| Author | Sukon Puntunan |
| Call Number | AIT Thesis no. ISE-01-48 |
| Subject(s) | Robots--Control systems
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master
of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-01-48 |
| Abstract | The paper illustrates a PD control scheme for control of heading direction and floating height
of a flying robot. A 30-sized nonlinear helicopter model is used as a mobile platform in which
a Motorola M68HC 11 micro-controller will be used to establish the 2-DOF controlled system.
A digital compass is used to measure the heading direction and an ultrasonic range finder is
used to measure the vertical distance from ground to a flying robot. The detection range of the
ultrasonic range finder is only 90.0 centimeters, so the flying robot can operate with a height
limit of this range. The system is partially autonomous because of the only 2-DOF controller
is designed. The lateral movement of the flying robot is manually by cyclic controlled from
the human pilot with a combination controlled of the electronic horizontal stabilizer.
However, it is only one approach of control scheme thus it needs to be redesign for an
adaptive and robustness system. |
| Year | 2001 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-01-48 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Honda, Kiyoshi; |
| Scholarship Donor(s) | Royal Thai Government ; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2001 |