臺灣博碩士論文加值系統

近年來無人飛行載具在民生與軍事用途上的應用與研究越來越普遍，其特點是：要執行具高風險的任務，可以減少人員的損傷。然而高風險的任務通常存在著極端的環境限制，因此，如何精準地控制無人飛行載具達到任務需求是本篇論文的研究重點。本篇論文針對無人飛行載具提出了一個具有強健性的導引律設計方法，在這過程中，我們引用了無人飛行載具的點質量數學模型來表現飛機在三維空間中的動態飛行行為，與一風擾模型來模擬大自然中風在連續時間內對無人飛行載具的擾動行為。藉由此安排，我們可以建構出無人飛行載具在真實世界中的性能表現。接著我們使用了回授線性化方法，將原本的非線性系統藉由適當的座標變換轉成線性控制模式，但誤差系統中存在著不確定的干擾項，故加入一個強健控制器來確保穩定度與誤差收斂性。實驗結果顯示，本文提出的強健導引律能有效抵抗外來環境的干擾，且無人飛行載具在三維空間中能有精準的飛行性能。

This paper presents an advanced guidance law which is based on robust feedback linearization (RFL) concepts and design procedures for autonomous pursuit of predefined waypoints for unmanned aerial vehicles (UAVs) in the three-dimensional (3D) area. In this investigation, a nonlinear 3D model of UAV considered wind gust disturbances is used for realizing realistic flight maneuvers. In this investigation, the overall error dynamics between the guided UAV and tracked waypoints can be proven as being stability in absence of external disturbances, and all effects of the external disturbances, such as wind gust will be proven to be attenuated below a certain of attenuation level if they are taken into consideration. Besides, a viewable lab-based simulator is developed for the above guided UAV is built up by MATLAB software; it’s capable of simulating both homogeneous and heterogeneous characteristics of the engaging air vehicles. Finally, tracking performances between the proposed robust guidance law and the feedback linearization based guidance law are demonstrated the by comparison results.

中文摘要 I
ABSTRACT II
ACKNOWLEDGMENTS III
CONTENTS IV
LIST OF TABLES V
LIST OF FIGURES VI
NOMENCLATURES VIII
CHAPTER 1 INTRODUCTION 1
1.1 Motivations 1
1.2 Review and Objective 1
1.3 Outline 3
CHAPTER 2 EQUATION OF MOTION OF UAVs 4
2.1 3-DOF Model of UAVs 4
2.2 Wind Disturbance Model 6
CHAPTER 3 ROBUST GUIDANCE LAW DESIGN 8
3.1 Feedback Linearization Guidance Law 12
3.2 Robust Compensator for Eliminating the Effects of External Disturbances 14
CHAPTER 4 SIMULATION RESULTS AND DISCUSSIONS 19
4.1 Evaluation Configuration 19
4.2 Case 1: Two Waypoints Straightforward Simulation 22
4.3 Case 2: A Closed-Loop Trajectory with Nine Waypoints 28
4.4 Case 3: Long Term Course with Nineteen Waypoints 35
4.5 Virtual Reality Demonstrations of UAVs Flight 41
CHAPTER 5 CONCLUSIONS 45
REFERENCES 46

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