Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 은용순 | - |
| dc.contributor.author | Jeyoung Song | - |
| dc.date.accessioned | 2019-10-02T16:03:22Z | - |
| dc.date.available | 2019-10-02T16:03:22Z | - |
| dc.date.issued | 2019 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000171492 | en_US |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/10734 | - |
| dc.description.statementofresponsibility | prohibition | - |
| dc.description.tableofcontents | 1 Introduction 1 2 Background 3 2.1 Special Matrices 3 2.2 Barbalat’s lemma 4 2.3 Persistency of Excitation 5 2.4 Passivity based Lyapunov Design 6 3 Quadrotor Modeling 9 3.1 Inertial Frame and Rotating Frame 9 3.2 Quadrotor Dynamics 11 4 Passivity based Adaptive Control 13 4.1 Controller Design 13 4.2 Parameter Convergence Criteria 18 4.3 Passivity based Adaptive Robust Control 20 5 Simulation with MATLAB 25 5.1 Passivity based Adaptive Control (PBAC) 25 5.2 Passivity based Adaptive Robust Control (PBARC) 29 6 Conclusion 35 A More graphs of Simulation 37 A.1 Storage function elements and inputs of PBAC 37 A.2 Storage function elements and inputs of PBARC 37 Bibliography 42 국문초록 44 |
- |
| dc.format.extent | 62 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.source | /home/dspace/dspace53/upload/200000171492.pdf | - |
| dc.title | Passivity-based Adaptive Control of Quadrotor with Mass and Inertia Uncertainties | - |
| dc.title.alternative | 질량과 관성모멘트의 불확실성을 갖는 쿼드로터의 수동성 기반 적응 제어 | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22704/thesis.200000171492 | - |
| dc.description.degree | MASTER | - |
| dc.contributor.department | Information and Communication Engineering | - |
| dc.contributor.coadvisor | Sehoon Oh | - |
| dc.date.awarded | 2019-02 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.IM 송74 201902 | - |
| dc.date.accepted | 2019-01-30 | - |
| dc.contributor.alternativeDepartment | 정보통신융합전공 | - |
| dc.embargo.liftdate | 2020-08-31 | - |
| dc.contributor.affiliatedAuthor | Song, Jeyoung | - |
| dc.contributor.affiliatedAuthor | Eun, Yongsoon | - |
| dc.contributor.affiliatedAuthor | Oh, Sehoon | - |
| dc.contributor.alternativeName | Yongsoon Eun | - |
| dc.contributor.alternativeName | 오세훈 | - |
| dc.contributor.alternativeName | 송제영 | - |
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