Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle
碩士 === 國立臺灣大學 === 電機工程學研究所 === 103 === As the unmanned aerial vehicles have been increasingly popular, designing a control scheme for unmanned aerial vehicle becomes a popular issues. In this thesis, the dynamic model of quadrotor is first derived. Based on the model, a controller which is a combina...
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ndltd-TW-103NTU054420602016-11-19T04:09:54Z http://ndltd.ncl.edu.tw/handle/79941446992030672056 Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle 利用非線性控制使四旋翼飛行器達成軌跡的追蹤 Hsiao-Chi Ho 賀孝淇 碩士 國立臺灣大學 電機工程學研究所 103 As the unmanned aerial vehicles have been increasingly popular, designing a control scheme for unmanned aerial vehicle becomes a popular issues. In this thesis, the dynamic model of quadrotor is first derived. Based on the model, a controller which is a combination of baseline and adaptive controllers is presented for accomplishing the desired tasks. The baseline controller based on backstepping technique is the main controller for trajectory tracking; the adaptive controller is found to increase robustness to steady-state error using Model Reference Adaptive Controller (MRAC). Then, simulations and flight experiments are given for testing the robustness and validity of the controller. In experiments, the position of quadrotor is obtained by the external motion sensor and IMU including gyroscope and accelerometer. The external motion sensor is constructed by RGB-D sensor, Microsoft Kinect. Using the depth information from Kinect, the 3D position of quadrotor could be obtained based on the projection relation of camera. 連豊力 2015 學位論文 ; thesis 176 en_US |
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碩士 === 國立臺灣大學 === 電機工程學研究所 === 103 === As the unmanned aerial vehicles have been increasingly popular, designing a control scheme for unmanned aerial vehicle becomes a popular issues. In this thesis, the dynamic model of quadrotor is first derived. Based on the model, a controller which is a combination of baseline and adaptive controllers is presented for accomplishing the desired tasks. The baseline controller based on backstepping technique is the main controller for trajectory tracking; the adaptive controller is found to increase robustness to steady-state error using Model Reference Adaptive Controller (MRAC). Then, simulations and flight experiments are given for testing the robustness and validity of the controller. In experiments, the position of quadrotor is obtained by the external motion sensor and IMU including gyroscope and accelerometer. The external motion sensor is constructed by RGB-D sensor, Microsoft Kinect. Using the depth information from Kinect, the 3D position of quadrotor could be obtained based on the projection relation of camera.
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連豊力 |
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連豊力 Hsiao-Chi Ho 賀孝淇 |
author |
Hsiao-Chi Ho 賀孝淇 |
spellingShingle |
Hsiao-Chi Ho 賀孝淇 Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle |
author_sort |
Hsiao-Chi Ho |
title |
Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle |
title_short |
Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle |
title_full |
Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle |
title_fullStr |
Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle |
title_full_unstemmed |
Nonlinear Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle |
title_sort |
nonlinear trajectory tracking control of quadrotor unmanned aerial vehicle |
publishDate |
2015 |
url |
http://ndltd.ncl.edu.tw/handle/79941446992030672056 |
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