Design of Backstepping Controllers for Quadrotor Helicopters
碩士 === 國立臺灣海洋大學 === 電機工程學系 === 105 === The goal of this paper is to design controllers, by the backstepping method, for quadrotors. At first, we describe the dynamic equations of the studied quad-rotorcraft. Then, the dynamic equations are linearized and decoupled into two subsystems to simplify the...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2017
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/awx99k |
| id |
ndltd-TW-105NTOU5442057 |
|---|---|
| record_format |
oai_dc |
| spelling |
ndltd-TW-105NTOU54420572019-05-16T00:00:46Z http://ndltd.ncl.edu.tw/handle/awx99k Design of Backstepping Controllers for Quadrotor Helicopters 四旋翼直升機遞迴步階控制器設計 Hong, Kun-Sheng 洪堃勝 碩士 國立臺灣海洋大學 電機工程學系 105 The goal of this paper is to design controllers, by the backstepping method, for quadrotors. At first, we describe the dynamic equations of the studied quad-rotorcraft. Then, the dynamic equations are linearized and decoupled into two subsystems to simplify the design of controllers. By the backstepping approach, two controllers are designed, respectively, for the two subsystems. Finally, the validity of the proposed results is verified by simulations. Yung, Chee-Fai 容志輝 2017 學位論文 ; thesis 29 zh-TW |
| collection |
NDLTD |
| language |
zh-TW |
| format |
Others
|
| sources |
NDLTD |
| description |
碩士 === 國立臺灣海洋大學 === 電機工程學系 === 105 === The goal of this paper is to design controllers, by the backstepping method, for quadrotors. At first, we describe the dynamic equations of the studied quad-rotorcraft. Then, the dynamic equations are linearized and decoupled into two subsystems to simplify the design of controllers. By the backstepping approach, two controllers are designed, respectively, for the two subsystems. Finally, the validity of the proposed results is verified by simulations.
|
| author2 |
Yung, Chee-Fai |
| author_facet |
Yung, Chee-Fai Hong, Kun-Sheng 洪堃勝 |
| author |
Hong, Kun-Sheng 洪堃勝 |
| spellingShingle |
Hong, Kun-Sheng 洪堃勝 Design of Backstepping Controllers for Quadrotor Helicopters |
| author_sort |
Hong, Kun-Sheng |
| title |
Design of Backstepping Controllers for Quadrotor Helicopters |
| title_short |
Design of Backstepping Controllers for Quadrotor Helicopters |
| title_full |
Design of Backstepping Controllers for Quadrotor Helicopters |
| title_fullStr |
Design of Backstepping Controllers for Quadrotor Helicopters |
| title_full_unstemmed |
Design of Backstepping Controllers for Quadrotor Helicopters |
| title_sort |
design of backstepping controllers for quadrotor helicopters |
| publishDate |
2017 |
| url |
http://ndltd.ncl.edu.tw/handle/awx99k |
| work_keys_str_mv |
AT hongkunsheng designofbacksteppingcontrollersforquadrotorhelicopters AT hóngkūnshèng designofbacksteppingcontrollersforquadrotorhelicopters AT hongkunsheng sìxuányìzhíshēngjīdìhuíbùjiēkòngzhìqìshèjì AT hóngkūnshèng sìxuányìzhíshēngjīdìhuíbùjiēkòngzhìqìshèjì |
| _version_ |
1719159303648051200 |