| Summary: | 碩士 === 國立屏東科技大學 === 車輛工程系所 === 97 === Abstract
Student ID：M9538017
Title of Thesis：The Application of Support Vector Machine to the Longitudinal Control of UAV
Total Pages：52
Name of Institute：National Pingtung University of Science and Technology
Name of Department：Department of Vehicle Engineering
Date of Graduation：July,2009 Degree Conferred：Master
Name of Student：Yu-Ou Jhang Adviser：Li-Wen Chen
The Content of Abstract in this Thesis：
Recently, the UAV has received a lot of attentions because it is inexpensive and can be operated easily in many locations for various purposes. Resources exploration, rescue, landscape survey and military reconnaissance are prevailed examples. As a result, UAVs have been developed by many countries.
It is not easy to control a UAV because of its nonlinear dynamics. Generally, it needs a lot of data and takes a lot of time to train or adjust the control parameters. To overcome this, this study tries to control a UAV’s longitudinal dynamics with a feed- forward controller constituted by the support vector machine theory. A least square support machine algorithm is proposed to speed up the linear programming process without directly using matrix inversion. A PID feedback controller is added to the control scheme to compensate the tracking error.
The Lipschitz theory is used to prove the open-loop stability of the developed least square support machine controller. Simulations have been done to validate the proposed control scheme.
Keyeords：UAV，Support Vector Machine
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