Dynamic modeling and control system design for a quad-rotor UAV쿼드 로터 무인항공기 동역학 모델링 및 제어시스템 설계 연구

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dc.contributor.advisorTahk, Min-Jea-
dc.contributor.advisor탁민제-
dc.contributor.authorWon, Dae-Yeon-
dc.contributor.author원대연-
dc.date.accessioned2011-12-12T07:23:14Z-
dc.date.available2011-12-12T07:23:14Z-
dc.date.issued2008-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=297279&flag=dissertation-
dc.identifier.urihttp://hdl.handle.net/10203/27025-
dc.description학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2008.2, [ viii, 63 p. ]-
dc.description.abstractThis paper is mainly concerned with the control system design for a quad-rotor UAV. The quad-rotor UAV is modeled by 6-DOF nonlinear equations of motion that includes rotor aerodynamics with blade element theory. Trim and stability analysis are performed to analyze and understand quad-rotor UAV dynamic model properties. Control system is designed based on PID autopilot and vision-based control technique. Additional vision-based control strategy is described for stabilization of the quad-rotor UAV using two on-board cameras in urban environments. Stabilization performances are assessed by 3D environment numerical simulation.eng
dc.languageeng-
dc.publisher한국과학기술원-
dc.subjectQuad-Rotor-
dc.subjectUAV-
dc.subjectModeling-
dc.subjectControl-
dc.subjectVision-
dc.subject쿼드 로터-
dc.subject무인항공기-
dc.subject모델링-
dc.subject제어-
dc.subject비전-
dc.subjectQuad-Rotor-
dc.subjectUAV-
dc.subjectModeling-
dc.subjectControl-
dc.subjectVision-
dc.subject쿼드 로터-
dc.subject무인항공기-
dc.subject모델링-
dc.subject제어-
dc.subject비전-
dc.titleDynamic modeling and control system design for a quad-rotor UAV-
dc.title.alternative쿼드 로터 무인항공기 동역학 모델링 및 제어시스템 설계 연구-
dc.typeThesis(Master)-
dc.identifier.CNRN297279/325007 -
dc.description.department한국과학기술원 : 항공우주공학전공, -
dc.identifier.uid020063324-
dc.contributor.localauthorTahk, Min-Jea-
dc.contributor.localauthor탁민제-
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