Print Email Facebook Twitter Adaptive control with Multivariate B-Splines and INDI Title Adaptive control with Multivariate B-Splines and INDI: A case study for Vertical take-off and landing drones Author Kanhai, Prawien (TU Delft Aerospace Engineering) Contributor Smeur, E.J.J. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2022-08-31 Abstract In recent years the popularity of VTOL (Vertical Take-Off and Landing) drones has increased significantly. Due to their hybrid design, these drones can take off and land vertically and fly horizontally, enabling them to land in difficult terrain and have a more extensive range than the Quadcopter counterpart. However, this hybrid design also introduces complex dynamics that are difficult to model. For adequate control, this requires an adaptive element that can compensate for the modeling errors. Due to the significant change in flight conditions, adaptations must be made effectively over the entire flight envelope of a VTOL drone. This thesis introduces an adaptive controller that can cope with the large flight envelope and varying flight conditions of the VTOL drone and can adapt the controller effectively and store previous adaptations with multivariate B-splines during real-time flights. Subject Adaptive controlINDIMultivariate B-splineVTOL To reference this document use: http://resolver.tudelft.nl/uuid:fdd8e2fa-1372-4f79-aa05-6ab152e848e1 Coordinates 52.0126341,4.3555860. Part of collection Student theses Document type master thesis Rights © 2022 Prawien Kanhai Files PDF report.pdf 15.86 MB Close viewer /islandora/object/uuid:fdd8e2fa-1372-4f79-aa05-6ab152e848e1/datastream/OBJ/view