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System Identification and Tracking Control of a Flapping Wing Micro Air Vehicle : 날갯짓 비행체의 시스템 식별 및 추종 제어
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 김현진 | - |
dc.contributor.author | 류승완 | - |
dc.date.accessioned | 2017-07-14T03:38:31Z | - |
dc.date.available | 2017-07-14T03:38:31Z | - |
dc.date.issued | 2015-08 | - |
dc.identifier.other | 000000067183 | - |
dc.identifier.uri | https://hdl.handle.net/10371/123847 | - |
dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2015. 8. 김현진. | - |
dc.description.abstract | The goal of system identification is to build mathematical models of dynamical systems that can be used in control techniques. This thesis is focused on identifying the dynamics of a flapping wing micro air vehicle (FWMAV) from measured flight data. Because of the nonlinear and complex dynamics and coupled variables of a FWMAV, discrete-time linear time-invariant (LTI) models for both the longitudinal and lateral dynamics which have dominant flight state variables are used as a basis for system identification. To gather input-output data sets from flight test, an experimental setup is constructed in an indoor environment using a motion capture system. Discrete-time LTI models are sought by employing linear estimator, support vector regression (SVR) and validated in the time domain flight data. The results show that SVR accurately produces the true FWMAV responses better than the linear estimator. After dynamic characteristics of a FWMAV are checked through matrix analysis, the obtained model is used to design feedback controllers for maintaining altitude. To verify the controller, a simulation is performed. Experimental results, using a FWMAV, of maintaining a flight altitude are also presented. | - |
dc.description.tableofcontents | Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Literature review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Thesis contribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Thesis outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Experimental setup overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 System identi?cation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.1 Reference coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.2 Linearization of longitudinal dynamics and lateral dynamics . . . . . . . . . . . . . 11 3.3 Input signal design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3.4 Linear estimator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 3.5 Support vector regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4 System identi?cation results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.1 Longitudinal dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.2 Lateral dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.3 SVR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 5 Controller design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 5.1 Feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 5.2 Pole placement reference tracking control . . . . . . . . . . . . . . . . . . . . . . . 27 5.3 Linear quadratic tracking control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 6 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 6.1 Simulation results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 iv 6.2 Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 | - |
dc.format | application/pdf | - |
dc.format.extent | 4262923 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | System identification | - |
dc.subject | Longitudinal and lateral dynamics | - |
dc.subject | FWMAV | - |
dc.subject | Linear estimator | - |
dc.subject | SVR | - |
dc.subject.ddc | 621 | - |
dc.title | System Identification and Tracking Control of a Flapping Wing Micro Air Vehicle | - |
dc.title.alternative | 날갯짓 비행체의 시스템 식별 및 추종 제어 | - |
dc.type | Thesis | - |
dc.description.degree | Master | - |
dc.citation.pages | vii, 36 | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2015-08 | - |
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