期刊論文
| 學年 | 102 |
|---|---|
| 學期 | 1 |
| 出版（發表）日期 | 2013-10-02 |
| 作品名稱 | Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel′s Nonlinear Controllers Design |
| 作品名稱（其他語言） | |
| 著者 | Juing-Shian Chiou; Huu-Khoa Tran; Shou-Tao Peng |
| 單位 | |
| 出版者 | |
| 著錄名稱、卷期、頁數 | Mathematical Problems in Engineering 2013( 1),p. 275905 |
| 摘要 | This paper has implemented nonlinear control strategy for the single tilt tri-rotor aerial robot. Based on Newton-Euler’s laws, the linear and nonlinear mathematical models of tri-rotor UAVs are obtained. A numerical analysis using Newton-Raphson method is chosen for finding hovering equilibrium point. Back-stepping nonlinear controller design is based on constructing Lyapunov candidate function for closed-loop system. By imitating the linguistic logic of human thought, fuzzy logic controllers (FLCs) are designed based on control rules and membership functions, which are much less rigid than the calculations computers generally perform. Effectiveness of the controllers design scheme is shown through nonlinear simulation model on each channel. |
| 關鍵字 | |
| 語言 | en_US |
| ISSN | |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI Scopus |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 否 |
| 國別 | GBR |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/127294 ) |