摘 要
本論文主要目的在研究無人飛行載具追隨光電酬載位移變化之導引控制架構，將光電酬載所提供的方位角及俯仰角作為飛行控制系統的控制訊號，以協助對目標物搜尋或追蹤。本文首先敘述光電酬載的特性，利用輸出入迴授線性化的方法對其動態方程式作線性化，進一步討論穩定性與系統響應。無人飛行載具使用倒逆步飛行控制定律來維持良好的飛行姿態,比起傳統控制法則,倒逆步控制器更容易且簡單地實現。最後，兩種智慧型的控制策略被提出使得無人飛行載具在無遠端遙控員之支助下能以自動飛行機制來監控目標物。電腦模擬結果顯示飛行載具自動追隨光電酬載以保持目標物在攝影機的視角範圍內。

Abstract
This thesis presents a guiding-control framework for an unmanned aerial vehicle following the pen and tilt angles of an optical payload. An optical payload provides azimuth and pitch angles as control signals to assist for tracking or searching target. First, we briefly review the characteristics of an optical payload system, make use of input-output linearization method to linearize dynamic motion equation, and then explore the stability issues and system responses of the system. An unmanned aerial vehicle uses a backstepping flight control law in order to bestow good flying qualities for flight conditions. In comparison with convectional control methods, the backstepping controller is much simpler and easier to construct and implement. Finally, two intelligent strategies are proposed so that the target can be observed by an automatic flight maneuver without the help of a remote pilot. Simulation results have demonstrated that the aircraft automatically flies following the optical payload to keep target within the field of view of the camera.

Contents
Chinese Abstract i
English Abstract ii
Acknowledgments iii
Contents iv
List of Figures viii
List of Tables xii
CHAPTER 1 Introduction 1
1.1 Introduction 1
1.2 Survey of Related Research 3
1.3 Contributions of the Thesis 6
1.4 Organization of the Thesis 8
CHAPTER 2 Backstepping and PID Control of a Gimbal System 9
2.1 Introduction 9
2.2 Gimbal Architecture 10
2.3 Singularity and Mechanical Constraints 12
2.4 Gimbal Dynamic Equations 14
2.5 Gimbal Motion Control Design 16
2.5.1 Input-Output Linearization 18
2.5.2 Backstepping Control Design 19
2.5.3 PID Control Design 23
2.6 Gimbal System Implement Using TMS320C6711 DSK 26
2.6.1 DSK 6711 Functions Description 27
2.6.2 TMS320C6711 Digital Signal Processor 28
2.6.3 Code Composer Studio 29
2.6.4 Realizing the Gimbal System Based on DSKC6711 31
2.7 Concluding Remarks 37
CHAPTER 3 Design of Longitudinal Axis Full Envelope Control Law by Backstepping 38
3.1 Introduction 38
3.2 Aircraft System 40
3.2.1 Aircraft Coordinate System 40
3.2.2 Stability of Aircraft 42
3.2.3 Aircraft Dynamics Model 43
3.2.4 Flight Envelop of the Aircraft…………………………………………………. 43
3.3 Backstepping Control Design 45
3.3.1 Longitudianl Control 45
3.3.2 Simulation Results and Discussion 51
3.4 Eliminating Steady State Errors by Integral Actions 53
3.5 Concluding Remarks 57
CHAPTER 4 Design of Intelligent Flight Control Law Following the Optical Payload 59
4.1 Introduction 59
4.2 Aircraft/Payload Dynamics 61
4.2.1 Aircraft Dynamic Model 62
4.2.2 Gimbal Dynamic Model 63
4.2.3 Orientation of Coordinate Model 65
4.3 Intelligent Control Strategy 66
4.3.1 Fuzzy Logic Control 67
4.3.2 Pursuit Guidance 71
4.3.3 Simulation Results and Discussion 72
4.4 Fuzzy Flight Control 79
4.5 Concluding Remarks 83
Chapter 5 Summaries and Recommendations 85
5.1 Summaries 85
5.2 Recommendations 86
References 88
Appendix A 93

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