倾转三旋翼无人机建模与姿态增稳控制技术研究

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1、分类号V249.3学号14030090ＵＤＣ621.3密级公开工学硕士学位论文倾转三旋翼无人机建模与姿态增稳控制技术研究硕士生姓名潘崇煜学科专业控制科学与工程研究方向机器人技术指导教师沈林成教授国防科学技术大学研究生院二〇一六年十月ModelingandAttitudeStabilizationControlofTiltTri-RotorUAVCandidate：PanChongyuAdvisor：Prof.ShenLinchengAdissertationSubmittedinpartialfulfillmentoftherequir

2、ementsforthedegreeofMasterofEngineeringinControlScienceandEngineeringGraduateSchoolofNationalUniversityofDefenseTechnologyChangsha，Hunan，P.R.China（October，2016）国防科学技术大学研究生院硕士学位论文目录摘要.........................................................................................

3、........................iABSTRACT..........................................................................................................ii第一章绪论......................................................................................................11.1研究背景及意义............

4、...................................................................................11.1.1研究背景................................................................................................11.1.2研究意义........................................................................

5、........................21.2国内外研究现状...............................................................................................31.2.1垂直起降固定翼无人机........................................................................31.2.2倾转旋翼无人机........................................

6、............................................61.2.3姿态控制................................................................................................71.3本文内容与组织结构.......................................................................................81.3.1主要内容...........

7、.....................................................................................81.3.2组织结构................................................................................................9第二章倾转三旋翼无人机运动模态分析.........................................................112.1

8、倾转旋翼无人机系统剖析.............................................................................112.1.1系统构成....