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
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326734 |
| Date | January 2009 |
| Contributors | Chen, Yipin., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, 83 leaves : ill. ; 30 cm. |
| Rights | Use 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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