This course introduces the fundamental principles of multirotor unmanned aerial vehicles (UAVs). Topics include coordinate systems, multirotor, flight principles, kinematics, and dynamic modeling. Students will derive the equations of motion for a multirotor and design basic linear controllers based on the derived dynamic model. The stability and performance of the resulting closed-loop system will also be analyzed. MATLAB will be used to simulate and visualize multirotor flight dynamics and control responses. Finally, students will implement basic attitude control algorithms on an experimental quadrotor platform.
本課程介紹多旋翼無人飛行載具 (Unmanned Aerial Vehicle, UAV)的基本飛行與控制原理。課程內容涵蓋座標系統、飛行原理、多旋翼運動學及動態建模，並基於此建立多旋翼之運動方程式。學生將基於所建立的動態模型設計基礎線性控制器，並分析閉迴路系統的穩定性與控制性能。此外，本課程將使用 MATLAB 進行數值模擬，以呈現多旋翼的飛行動態與控制響應；最後，學生將於實驗平台上實現四旋翼的基礎姿態控制。