本論文主要為戶外自主飛行的四旋翼無人飛行載具的控制與應用。在已規劃的室外的四旋翼路徑上，利用雷射掃描感測器即時地檢測未知的障礙物，包含不同的形狀、數量、材質及位置。基於由每個檢測到的障礙物構成之三角形來比較，朝著具有大於閥值的最大檢測距離以及最大角度範圍的三角形中心角度方向前進一個特定距離。相反的，若障礙物偵測過程中遇到無路可走，便導航至一個特定的高度，並繼續障礙物檢測。在即時偵測障礙物的同時也為下一段飛行建立地圖。而室外的四旋翼，感測器容易被隨機訊號干擾，故利用EKF整合感測器所得到的訊號，估測感測器整合之模糊整合的滑動控制器的回授訊號。無論受控系統及輸入、輸出對的數據如何，所提出的控制僅由滿足模糊規則表極性的系統極性來設計，基於系統函數的下界以及相對系統函數上界的估測誤差，閉迴路系統的穩定性是確定的。最後，由實驗室外四旋翼飛行器追蹤具有未知障礙物的特定規劃軌跡，驗證了此控制的有效性及強健性。

The unknown obstacles, including different shapes, numbers, materials, and localizations, in the vicinity of planned trajectory of an outdoor quadrotor, are on-line detected by laser sweep scanner. Based on the comparison among detected triangles containing each obstacle, the central orientation of the triangle with maximum detected distance and triangle angle larger than the threshold values is assigned to fly a specific distance. On the contrary, the quadrotor probably encounters a dead end and is then navigated to a specific altitude for the continuous procedure of obstacle detection. By on-line detection, an obstacle mapping is also established for the next flight. Since the sensing signals of an outdoor quadrotor are easily affected by stochastic noise, an EKF fuses these sensory signals to estimate the feedback signals of a sensor-fusion fuzzy integral sliding-mode control. Irrespective of the number and data pair of input and output, the proposed control is designed only by the system polarity satisfying the polarity of fuzzy rule table. Based on the lower bound of system function and the relative upper bound of estimated output error and system function, the stability of the closed-loop system is assured. Finally, the experiments of an outdoor quadrotor to track a specific planning trajectory with unknown obstacles validate the effectiveness and robustness of the proposed control.

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