Oct 20, 2020   1:46 a.m. Vendelín

# Persons at STU

 Ing. Juraj Slačka, PhD. Identification number: 50837 University e-mail: juraj.slacka [at] stuba.sk Odborný asistent CSc.,PhD. - Institute of Robotics and Cybernetics (FEEIT)

 Contacts Graduate Lesson Final thesis Projects Supervised theses

Basic information

Basic information about a final thesis

 Type of thesis: Diploma thesis Thesis title: Flying model of bicopter Written by (author): Ing. Lukáš Hrečko Department: Institute of Robotics and Cybernetics (FEEIT) Thesis supervisor: Ing. Juraj Slačka, PhD. Opponent: doc. Ing. Rudolf Andoga, PhD. Final thesis progress: Final thesis was successfully defended.

Additional information about the final thesis follows. Click on the language link to display the information in the desired language.

 Language of final thesis: Slovak

 Title of the thesis: Flying model of bicopter Summary: Due to the complexity of flying vehicles, which includes both construction and mathematical model, dealing with their control problems is usually not a trivial task. Typical control problems one needs to consider are related not only to control the vehicle's flight itself but also to control the process of its take off, landing, and stabilization during the flight. These problems significantly depend on the flying vehicle under consideration, and the corresponding control actions need to be chosen also with respect to the size and type of the vehicle. In this paper the respective vehicle we consider is the so-called bicopter, which can be described as a two-rotor flying machine without variable tilting propellers attached to it. Note that the rotors and the body of the bicopter are not firmly connected, and the whole construction is more pendulum-like. That is, the rotors can rotate around the common axis perpendicular to the body of the bicopter. This makes bicopter one of the least stable aircraft construction. Key words: bicopter, AHRS, filters, drone, IMU, MCU, process control, Kalman, tilt rotor