1 AIT Asian Institute of Technology

Control of heading direction and floating height of a flying robot

AuthorSukon Puntunan
Call NumberAIT Thesis no. ISE-01-48
Subject(s)Robots--Control systems

NoteA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies
PublisherAsian Institute of Technology
Series StatementThesis ; no. ISE-01-48
AbstractThe 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.
Year2001
Corresponding Series Added EntryAsian Institute of Technology. Thesis ; no. ISE-01-48
TypeThesis
SchoolSchool of Advanced Technologies (SAT)
DepartmentDepartment of Industrial Systems Engineering (DISE)
Academic Program/FoSIndustrial Systems Engineering (ISE)
Chairperson(s)Manukid Parnichkun;
Examination Committee(s)Afzulpurkar, Nitin V.;Honda, Kiyoshi;
Scholarship Donor(s)Royal Thai Government ;
DegreeThesis (M.Eng.) - Asian Institute of Technology, 2001


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