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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49848

Title: 四旋翼直升機遞迴步階控制器設計
Design of Backstepping Controllers for Quadrotor Helicopters
Authors: Hong, Kun-Sheng
洪堃勝
Contributors: NTOU:Department of Electrical Engineering
國立臺灣海洋大學:電機工程學系
Keywords: 四旋翼;Lyapunov穩定性;Backstepping 控制
Quadrotor;Lyapunov stability;Backstepping control
Date: 2017
Issue Date: 2018-08-22T07:13:10Z
Abstract: 本論文研究目的是利用backstepping控制法去進行四旋翼控制器設計,一開始說明四旋翼飛行器動態方程式,接著將動態方程式線性化並解耦合成兩子系統以簡化其控制器的設計,然後使用backstepping控制法則分別設計出這兩子系統控制器,最後進行模擬來驗證有效性。
The goal of this paper is to design controllers, by the backstepping method, for quadrotors. At first, we describe the dynamic equations of the studied quad-rotorcraft. Then, the dynamic equations are linearized and decoupled into two subsystems to simplify the design of controllers. By the backstepping approach, two controllers are designed, respectively, for the two subsystems. Finally, the validity of the proposed results is verified by simulations.
URI: http://ethesys.lib.ntou.edu.tw/cgi-bin/gs32/gsweb.cgi?o=dstdcdr&s=G0010453059.id
http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49848
Appears in Collections:[電機工程學系] 博碩士論文

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