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无人飞行器的应用.pdf

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无人飞行器的应用

C2 - 3 2011 International Conference on Electrical Engineering and Informatics 17-19 July 2011, Bandung, Indonesia Modeling and Control of Unmanned Flying Robots Agus Budiyono#1 . Widyawardana Adiprawita*2 and Bambang Riyanto*2 #Department of Aerospace-Information Engineering, Konkuk University 1 Hwayang-dong, Gwangjin-gu, Seoul 143-701, Korea 1 agus@konkuk.ac.kr * School of Electrical Engineering and Informatics, Institut Teknologi Bandung Jl Ganesha 10, Bandung, Indonesia 2 wadiprawita@stei.itb.ac.id Abstract— The recent decade has witnessed rapid The approach to RUAVs modeling can be in progress in the design and development of general divided into two distinct methods. The first autonomous flying robots. The paper closely approach is known as first principle modeling based examines the evolution of modeling and control on direct physical understanding of forces and for such vehicles. Modeling is viewed as an moments balance of the vehicle. The challenge of integral part of model-based control synthesis. this approach is the complexity of the mathematical The first half of the paper is focused on the model involved along with the need for rigorous review of modelling method for unmanned flying