近年來，由於感知器技術的進步、微處理器、動力裝置的改善、新型材料的應用、電池續航力的提升及嵌入視覺系統(Embedded Vision System)的普及等，使得四旋翼無人飛行載具快速地蓬勃發展。本論文探討一架四旋翼無人飛行載具的實驗建構與其之數學模式的推導，設計模糊分散滑動模式控制器，達到姿態控制的目的，並調整其控制器之參數，使其在飛行狀態時，受到外界干擾因素(例如，其本身來自機構或馬達或螺旋槳差異的不平衡、地面效應所造成之不平衡)也能在有限時間內回到穩定之飛行狀態以利於相關軌跡的追蹤。最後以相關實驗驗證所建議方法的可行性、有效性及強健性。

In recent years, quad-rotor unmanned aerial vehicles (QUAVs) have been quickly developed because of the progress in technology of sensors, improvement of microprocessors and dynamical systems, application of new materials, battery capacity’s upgrades, and popularization of embedded vision systems. In this thesis, an experimental setup of QUAV is developed and its dynamic model is also derived. Furthermore, the fuzzy decentralized sliding-mode controller (FDSMC) is designed to control the attitude of QUAV by suitably adjusting the control parameters of the proposed controller. As a result, the attitude of flying QUAV with disturbances (e.g., unbalance caused by the mechanism, servo motor and propeller, unbalance resulting from ground effect) can converge to the desired attitude in finite time. Finally, the corresponding experiments are arranged to confirm practicality, effectiveness and robustness and of the proposed control.

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http://www.robot-electronics.co.uk/htm/srf05tech.htm
[12] Homepage of 3DM-GX1:
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