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A Lie group formulation of multirotor aerial vehicle dynamics with applications to trajectory generation and optimal control : 다로터 항공기 동역학과 경로 생성 및 최적 제어의 리 그룹 포뮬레이션
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 박종우 | - |
| dc.contributor.author | 노수철 | - |
| dc.date.accessioned | 2017-07-14T03:45:07Z | - |
| dc.date.available | 2017-07-14T03:45:07Z | - |
| dc.date.issued | 2017-02 | - |
| dc.identifier.other | 000000141873 | - |
| dc.identifier.uri | https://hdl.handle.net/10371/123948 | - |
| dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2017. 2. 박종우. | - |
| dc.description.abstract | This thesis presents a Lie group-based dynamics for general winged and wingless multirotor aerial vehicles (MAVs), and suggests optimal control using this. We deal with the dynamics of the MAVs with arbitrary sets of positions, axes, and coordinates of rotors or wings with no generic assumptions. From the large category of MAVs dynamics, we can make more simple dynamics equation by introducing the commonly used assumptions one after the other. In particular, we present an optimal control method of quadrotor as an application to this Lie group dynamics. This Lie group formulation can express all of the dynamics of any existing winged or wingless MAVs model, and we present the analytic gradient of the optimization problem, making it easy to plan trajectory and optimize various objective functions. | - |
| dc.description.tableofcontents | 1 Introduction 1
2 Kinodynamic preliminaries 4 2.1 Newton-Euler equation for rigid body 4 2.2 Newton-Euler equation with respect to different frame 7 2.3 Matrix exponential representation 9 2.4 Time derivative of matrix exponential representation 10 3 Dynamics for generic MAV 12 3.1 Generic wingless MAV 12 3.1.1 Dynamic equations for rotor i 14 3.1.2 Dynamic equations for MAV body 16 3.1.3 Entire dynamic equations for generic wingless MAV 17 3.1.4 Simplified dynamics for generic wingless MAV 18 3.1.5 Motor dynamics for generic wingless MAV 19 3.2 Generic MAV model with wings 22 3.2.1 Aerodynamic spatial forces 22 3.2.2 Entire dynamic equations for generic MAV with wings 25 3.3 Examples 27 3.3.1 Standard quadrotor 28 3.3.2 Quadrotor with tilting rotors 30 3.3.3 Quadrotor with two fixed wings 33 3.3.4 Quadrotor with four tilting wings 34 4 Optimal control 36 4.1 Problem definition 36 4.1.1 Minimum torque 37 4.1.2 Minimum energy 38 4.2 Gradients for solving optimization problems 38 4.2.1 Analytic gradients for objective function 39 4.2.2 Analytic gradients for constraints 39 4.3 Simulation results 40 4.3.1 Multiple different final conditions of S 41 4.3.2 Multiple different initial guesses 46 4.4 Discussion 46 5 Conclusion 49 Bibliography 51 국문초록 54 | - |
| dc.format | application/pdf | - |
| dc.format.extent | 3119309 bytes | - |
| dc.format.medium | application/pdf | - |
| dc.language.iso | en | - |
| dc.publisher | 서울대학교 대학원 | - |
| dc.subject | dynamics | - |
| dc.subject | optimal control | - |
| dc.subject | Lie group | - |
| dc.subject | multirotor | - |
| dc.subject | quadrotor | - |
| dc.subject | optimization | - |
| dc.subject.ddc | 621 | - |
| dc.title | A Lie group formulation of multirotor aerial vehicle dynamics with applications to trajectory generation and optimal control | - |
| dc.title.alternative | 다로터 항공기 동역학과 경로 생성 및 최적 제어의 리 그룹 포뮬레이션 | - |
| dc.type | Thesis | - |
| dc.description.degree | Master | - |
| dc.citation.pages | 54 | - |
| dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
| dc.date.awarded | 2017-02 | - |
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