Description:

This project aims to design a robust control scheme and trajectory generation algorithm that will allow a micro-sized quadcopter to traverse a known obstacle course in minimum time. The focus will be on considering uncertainty in the system and environment, as well as making consideration for feedforward control and time-optimal motion.

Objectives:

• Investigate the dynamics of a quadcopter.
• Investigate previous approaches to high-agility quadcopters.
• Flight controller selection and other embedded hardware.
• Mathematically model quadcopter in simulation environment
• Robust control design of various feedback loops.
• Trajectory generation and tracking.
• Experimental validation of solutions.
• Write-up of dissertation.

Key skills/interests:

Mathematical modelling, mechanical design, instrumentation and embedded systems integration.

Expected outputs:

1x MSc (Eng), 1x Journal/Conference paper in a leading publication.

Supervisor:

Dr Arnold Pretorius

Prof. Ed Boje (Department of Electrical Engineering)

Student: