| Summary: | 碩士 === 國立虎尾科技大學 === 航空與電子科技研究所 === 103 === In this thesis, (1) guidance and control law designs including analyses and designs of basic control system, guidance and control laws are proposed first for a quadrotor. The basic control system includes: (a)Height Control system using velocity stabilizing in the inner loop; (b) Roll, pitch and yaw attitude control system using angular rate stabilizing in inner loops. Based upon the basic control system, control laws the for XB and YB body axes velocity are added. Locus tracking laws for way-point flight are also added. This application is different from conventional velocity and position control techniques. The merit of the proposed control configuration is that one can use attitude and position controls by the switching algorithm. The proposed method is verified by digital simulations. It can be seen that they give good performance. Secondly, (2) Dual-purpose variable structure vehicle is proposed. It can be used for searching target, identifying, approaching and obstacle avoidance in the air and on the ground. Finally, (3) Variable fixed-wing structure vehicle designs is proposed. It can be switched to the Quadrotor UAV mode or the airplane mode. It can approach the any target area quickly using the airplane mode and searching the target using the Quadrotor mode.
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