Control system design and aggressive maneuver method for a quad-rotor UAV쿼드-로터 무인항공기의 제어시스템 설계 및 고기동 기법 연구
This thesis focuses on dynamic modeling, control system design and aggressive maneuver method for a Quad-rotor UAV. Quad-rotor UAV is modeled by 6-DOF nonlinear equations of motion. We introduce flip maneuver for a Quad-rotor UAV and design control method. Three attitude controllers of the Quad-rotor are designed by various methodologies for performing aggressive maneuver such as flip maneuver. Performances of these controllers are compared using 6-DOF simulation results. We built Quad-rotor platform and performed flight test to show the possibility of the real-world flip maneuver of a Quad-rotor.
- Advisors
- Tahk, Min-Jearesearcher; 탁민제
- Description
- 한국과학기술원 : 항공우주공학전공,
- Publisher
- 한국과학기술원
- Issue Date
- 2013
- Identifier
- 515213/325007 / 020113423
- Language
- eng
- Description
학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2013.2, [ vi, 44 p. ]
- Keywords
Quad-rotor; Aggressive Maneuver; Open-loop Control; 쿼드-로터; 고기동; 개루프 제어; 슬라이딩 모드 제어; Sliding Mode Control
- Appears in Collection
- AE-Theses_Master(석사논문)
- Files in This Item
- There are no files associated with this item.
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