This thesis focuses on a Model Based Design approach to the dynamic modelling and control design of a multi-robot solution based on a collab- oration scheme between a UAV and USV. The purpose of the system is to provide a suitable platform to autonomously perform limnology related surveys. The dynamic models of both platforms are derived from a Newton- Euler formalism and implemented through block oriented modelling us- ing the Simscape Multibody toolset within Simulink. The implementation of both the simulation architecture and the control architecture are de- scribed and explained. This control architecture is based on PID feedback loops that are used for achieving control of the UAV and USV dynamics. Finally, the built simulator is used to asses the performance and relia- bility of the designed controllers and the dynamic modelling approaches selected ; Ingeniería en Tecnologías Industriales


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    Title :

    Modelling and control of a UAV-USV collaboration scheme for fluvial operations



    Publication date :

    2017-03-08


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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