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			General Info   Overview Visitor Info People Research   Publications Education   Courses GA/SA/MA News   News Seminars		Analysis of the control system of an autonomous hexacopter Author(s): S. Nehls Conference/Journal: Semester Thesis, SS18, [OC:03751] Abstract: This thesis investigates the implemented controller as potential root cause of instabilities of an autonomous drone. For this purpose a nonlinear and a linear model of the drone are developed. The models are compared to logged data from real drone flights and data from HIL (hardware in the loop) simulated flights. The nonlinear model is capable to replicate the flight instabilities. Based on the linear SISO models the implemented controller is analyzed. Assessment criteria for the controller are derived, against which the implemented controller is compared. This thesis shows, that the controller fails to fulfill the assumed design criteria and hence has to be considered the cause of the flight instabilities. Supervisors: Nikolaos Kariotoglou, Alex Liniger, John Lygeros Year: 2018 Type of Publication: (13)Semester/Bachelor Thesis Supervisor: % Autogenerated BibTeX entry @PhdThesis { Xxx:2018:IFA_5939 }