Quadrotor control: implementation,cooperation and human-vehicleinteraction

Abstract: In this thesis two cooperative control strategies are designed for a team of two indoorquadrotors and some human-vehicle interaction tasks are developed. First, theprocess of assembling a quadrotor from parts is undertaken. Then, a controller for asingle quadrotor is designed, and implemented using LabView software. Matlab softwareis used to generate the desired trajectories. A LabView software module actsas a supervisor, allowing the coordination between the two vehicles. Two types ofcooperative control are developed: position-based, and position/velocity-based. Bothcontrol strategies allow the quadrotors to follow a reference trajectory while maintaininga specified formation. Furthermore, some tasks are developed where one quadrotorresponds to online stimuli given by a human via a user-friendly interface.