Adaptive model predictive control for a delivery quadrotor
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Date
2018
Authors
Chikasha, Piwai Nigel
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Abstract
This work explores the application of Adaptive Model Predictive Control (AMPC) to a quadrotor, given some delivery (varying load) task. In simulations, this is investigated as a pick-and-place task for a delivery quadrotor, then in experiment, as a load-drop-off stabilization task. [Abbreviated Abstract. Open document to view full version]
Description
A Dissertation submitted to the Faculty of Engineering and the Built Environment, University
of the Witwatersrand, Johannesburg, in partial fulfilment of the requirements of the
degree of Master of Science, November 2018