Three-dimensional vector field guidance law to control UAV무인기 제어를 위한 3차원 벡터 필드 유도기법 연구

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In this dissertation, 4 new three-dimensional vector fields and rotate method are proposed. In traditional research of vector field guidance, main topic was dynamic path planning and obstacle avoidance by using realtime guarantee of vector field guidance. But most case of traditional vector field guidance is summations of source and sink vectors. Therefore, many singular points are occurred. The New three-dimensional vector fields consist only one vector field. Thus, only one singular point is occur at origin. And I propose the guidance law to control arrival condition such as algle, time and speed. By using 6DoF simulation and real flight test, prove the arrival condition can be satisfied by new three-dimensional vector field guidance.
Advisors
Bang, Hyo-Choongresearcher방효충
Description
한국과학기술원 : 항공우주공학전공,
Publisher
한국과학기술원
Issue Date
2014
Identifier
569613/325007  / 020123632
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2014.2, [ v, 55 p. ]

Keywords

Unmanned Aerial System (UAS); 벡터 필드 회전; 도달 속도; 도달 시간; 도달 각도; 도달 조건; Unmanned Aerial Vehicle (UAV); Unmanned Aircraft (UA); Guidance law; Lyapunov Vector Field; Vector Field Guidacne; Arrival Angle; Arrival Time; Arrival Speed; Impact Angle; 무인항공체계; 무인항공기; 유도법칙; 리아프노프 벡터 필드; 벡터 필드 유도기법

URI
http://hdl.handle.net/10203/196143
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=569613&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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