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1 104/1 航太系 蕭照焜 教授 期刊論文 發佈 Development of a Distributed Multi-MCU Based Flight Control System for Unmanned Aerial Vehicle , [104-1] :Development of a Distributed Multi-MCU Based Flight Control System for Unmanned Aerial Vehicle期刊論文Development of a Distributed Multi-MCU Based Flight Control System for Unmanned Aerial VehicleJaw-Kuen Shiau; Wei-Sheng Hung; Cheng-Min ChangDistributed Control System;State Feedback;Delay Compensation;UAVJournal of Applied Science and Engineering 18(3), pp.251-258This paper presents the design of a distributed multi-microcontroller based computing framework for UAV application. A DSPIC microcontroller (MCU) based system architecture is established first. The system contains three major parts, namely, sensing and attitude determination section, control section, and ground section. The sensing and attitude determination section consists of four circuit boards (master control board, slave control board, sensor board, and power supply board) of identical size (5 cm × 5 cm). The sensor board contains three axes inertial measurement unit, electronic compass unit, and a GPS receiver. The sensors
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