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

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This 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.
Advisors
Tahk, Min-Jearesearcher탁민제researcher
Description
한국과학기술원 : 항공우주공학전공,
Publisher
한국과학기술원
Issue Date
2008
Identifier
297279/325007  / 020063324
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2008.2, [ viii, 63 p. ]

Keywords

Quad-Rotor; UAV; Modeling; Control; Vision; 쿼드 로터; 무인항공기; 모델링; 제어; 비전; Quad-Rotor; UAV; Modeling; Control; Vision; 쿼드 로터; 무인항공기; 모델링; 제어; 비전

URI
http://hdl.handle.net/10203/27025
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=297279&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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