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Adaptive control of autonomous helicopters.

Chen, Yipin. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2009. / Includes bibliographical references (leaves 81-83). / Abstracts in English and Chinese. / Abstract --- p.1 / 摘要 --- p.2 / Table of Contents --- p.3 / Acknowledgements --- p.4 / Nomenclature --- p.5 / List of Figures --- p.9 / Chapter 1 --- Introduction / Chapter 1.1 --- Motivation and Literature Review --- p.11 / Chapter 1.2 --- Background --- p.13 / Chapter 1.3 --- Research Overview --- p.14 / Chapter 1.4 --- Thesis Outline --- p.15 / Chapter 2 --- Kinematic and Dynamic Modeling / Chapter 2.1 --- Helicopter Dynamics --- p.16 / Chapter 2.2 --- Kinematics of Point Feature Projection --- p.19 / Chapter 2.3 --- Kinematics of Line Feature Projection --- p.22 / Chapter 3 --- Adaptive Visual Servoing with Uncalibrated Camera / Chapter 3.1 --- On-line Parameter Estimation --- p.25 / Chapter 3.2 --- Controller Design --- p.28 / Chapter 3.3 --- Stability Analysis --- p.30 / Chapter 3.4 --- Simulation --- p.33 / Chapter 4 --- Adaptive Control with Unknown IMU Position / Chapter 4.1 --- Control Strategies --- p.47 / Chapter 4.1.1 --- Dynamic Model with Rotor Dynamics --- p.47 / Chapter 4.1.2 --- p.50 / Chapter 4.2 --- Stability Analysis --- p.55 / Chapter 4.3 --- Simulation --- p.57 / Chapter 5 --- Conclusions / Chapter 5.1 --- Summary --- p.64 / Chapter 5.2 --- Contributions --- p.65 / Chapter 5.3 --- Future Research --- p.65 / Chapter A --- Inertial Matrix of the Helicopter --- p.66 / Chapter B --- Induced Torque --- p.69 / Chapter C --- Unknown Parameter Vectors and Initial Estimation Values --- p.72 / Chapter D --- Cauchy Inequality --- p.74 / Chapter E --- Rotor Dynamics --- p.77 / Bibliography --- p.81

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326734
Date January 2009
ContributorsChen, Yipin., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, 83 leaves : ill. ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

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