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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49841

Title: 四旋翼飛行器之滑動模式懸停控制器設計
Design of Sliding Mode Hovering Controllers for Quadrotors
Authors: YEH, CHIH-KUAN
葉治寬
Contributors: NTOU:Department of Electrical Engineering
國立臺灣海洋大學:電機工程學系
Keywords: 懸停控制;四旋翼飛行器;狀態擴展;滑動模式控制
Hovering control;quadrotor vehicle;state augmentation;sliding mode control
Date: 2017
Issue Date: 2018-08-22T07:12:58Z
Abstract: 本論文之目的是以數位訊號處理器DSP28377實現四旋翼飛行器之滑動模式懸停控制器設計。系統動態是以Newton-Euler方法推導,我們利用實驗找出四旋翼實際的物理參數和馬達推力。透過系統狀態擴展技巧得到一系統動態方程式,並使用滑動模式控制來設計控制器,最後由模擬與實驗結果驗證此方法的有效性。
The goal of this thesis is toimplement a sliding mode hovering controller on a quadrotorbyusing a TMS320F28377S DSP chip. The dynamics of the quadrotor is derived by the Newton-Euler method. The model parameters are estimated through some practical experiments. Based on a state argumentation technique, a state space model can be obtained and then a sliding mode hovering controller is designed. Simulation and experiment results verify the benefit of the proposed method.
URI: http://ethesys.lib.ntou.edu.tw/cgi-bin/gs32/gsweb.cgi?o=dstdcdr&s=G0010453058.id
http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49841
Appears in Collections:[電機工程學系] 博碩士論文

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