Investigations in multi-resolution modelling of the quadrotor micro air vehicle

Ireland, Murray L. (2014) Investigations in multi-resolution modelling of the quadrotor micro air vehicle. PhD thesis, University of Glasgow.

Abstract

Multi-resolution modelling differs from standard modelling in that it employs multiple abstractions of a system rather than just one. In describing the system at several degrees of resolution, it is possible to cover a broad range of system behaviours with variable precision. Typically, model resolution is chosen by the modeller, however the choice of resolution for a given objective is not always intuitive. A multi-resolution model provides the ability to select optimal resolution for a given objective. This has benefits in a number of engineering disciplines, particularly in autonomous systems engineering, where the behaviours and interactions of autonomous agents are of interest.

To investigate both the potential benefits of multi-resolution modelling in an autonomous systems context and the effect of resolution on systems engineering objectives, a multi-resolution model family of the quadrotor micro air vehicle is developed. The model family is then employed in two case studies. First, non-linear dynamic inversion controllers are derived from a selection of the models in the model family, allowing the impact of resolution on a model-centric control strategy to be investigated. The second case study employs the model family in the optimisation of trajectories in a wireless power transmission. This allows both study of resolution impact in a multi-agent scenario and provides insight into the concept of laser-based wireless power transmission.

In addition to the two primary case studies, models of the quadrotor are provided through derivation from first principles, system identification experiments and the results of a literature survey. A separate model of the quadrotor is employed in a state estimation experiment with low-fidelity sensors, permitting further discussion of both resolution impact and the benefits of multi-resolution modelling.

The results of both the case studies and the remainder of the investigations highlight the primary benefit of multi-resolution modelling: striking the optimal balance between validity and efficiency in simulation. Resolution is demonstrated to have a non-negligible impact on the outcomes of both case studies. Finally, some insights in the design of a wireless power transmission are provided from the results of the second case study.

• Item Type: Thesis (PhD)
• Qualification Level: Doctoral
• Keywords: quadrotor, multi-resolution modelling, trajectory optimisation, non-linear dynamic inversion
• Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
• Colleges/Schools: College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
• Supervisor's Name: Anderson, Dr. David
• Date of Award: 2014
• Depositing User: Dr Murray L Ireland
• Unique ID: glathesis:2014-5719
• Copyright: Copyright of this thesis is held by the author.
• Date Deposited: 11 Nov 2014 11:08
• Last Modified: 17 Nov 2014 10:10
• URI: https://theses.gla.ac.uk/id/eprint/5719