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projects
Detumbling of a rigid spacecraft via torque wheel assisted gyroscopic motion
Graduate Course Project, National Cheng Kung University, AA 7316 Advanced Dynamics (Instructor: Lin, Yiing-Yuh), 2020
This project considers the attitude control problem of a satellite using a single-axis reaction wheel. The following report redone the paper listed in the references.
Real-Time Parameter Estimation and Prediction-Based Control for Aircraft Pitch Dynamics
Graduate Course Project, National Cheng Kung University, ME 8601 Adaptive Control (Instructor: Ming-Shaung Ju), 2021
This project utilizes the recursive integral-operator-based least-squares (RLS) algorithm to estimate the system parameters for a aircraft pitch dynamics (textbook example). The simulation results show that the proposed RLS estimator enable to estimate the system parameters. By introduced the predicted states as the feedback states, the control performance is further improved.
System Parameter Identification of Quadrotor
Graduate Course Project, National Cheng Kung University, ES 7140 Applied System Identification (Instructor: Jer‑Nan Juang), 2021
This project uses the first-order integral method the identify the system parameter for a nonlinear quadrotor model. The simulation result indicates that the presented method can well identify the moment of inertia provide that the thrust model of the propellers is known.
Inversion-Based Trajectory Control for 3-DoF Quadrotor
Graduate Course Project, National Cheng Kung University, ME 8602 Feedforward Control (Instructor: Szu-Chi Tien), 2021
This research report propose a feedback-feedforward control architecture for a 3-DoF nonlinear quadrotor model which the relative degree is not well-defined and the system subject to the parameter uncertainties. The simulation results reveals that the proposed controller is capable of tracking the desired trajectory in the presence of modeling uncertainties.
Inspection UAV System Development
Industry Collaboration Research Project, China Steel Corporation, Dept. of Green Energy & System Integration Research & Development, National Cheng Kung University, Dept. of Aeronautics and Astronautics, Intelligent Embedded Control Laboratory, 2023
This research considered an indoor UAV environmental inspection in heavy industry. The feedback position, velocity, and orientation rely on the vSLAM sensor to online estimate the pose of UAV in space. The following video demonstrates the quadrotor position control experiments using the vSLAM sensor.
publications
Robust Second-Order Sliding Mode Control Law Design and Realization for Nonlinear Mechanical Systems
Published in National Cheng Kung University, Department of Aeronautics and Astronautics, Master Thesis, 2021
The master thesis focuses on the robust control law design for the nonlinear mechanical systems. Including the motion control of the DC motor systems, single-axis reaction wheel positioning, and spacecraft attitude control via multiple reaction wheels.
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Super-Twisting Sliding Mode Control Law Design for Attitude Tracking Task of a Spacecraft via Reaction Wheels
Published in Mathematical Problems in Engineering, 2021
This paper applies the super-twisting sliding mode algorithm to design the control law for a spacecraft attitude control problem. The governing equations and the control allocation law of the pyramid type reaction wheel configuration are derived. The simulation results reveal that the superior tracking performance of the proposed controller in the presence of unknown external disturbances.
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Parameters identification of nonlinear Lorenz chaotic system for high-precision model reference synchronization
Published in Nonlinear Dynamics, 2021
This paper proposes a model reference adaptive control law to perform the synchronization control for the Lorenz chaotic system. Several system identification techniques are presented to identify the system parameters of the Lorenz system. With the aid of the identified parameters, the high-precision synchronization performance is achieved.
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Integral Backstepping Control Algorithm for a Quadrotor Positioning Flight Task: A Design Issue Discussion
Published in Algorithms, 2023
This study uses an integral backstepping control algorithm, deriving an analytic form for the derivative of virtual control law to reduce control signal chattering from measurement noise. Simulation show better position tracking performance and smoother control signals compared to traditional methods.
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Encoder position feedback based indirect integral method for motor parameter identification subject to asymmetric friction
Published in International Journal of Non-Linear Mechanics, 2023
This paper proposes a second-order integral method for the system parameter identification for a DC motor subject to asymmetrical friction. Compared to direct difference method, the simulation and experiment results indicates that the proposed algorithm has better parameter estimation performance.
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Development of a Full Orientation Flight Robotics: Dynamics Modeling, Analysis, and Control Design
Published in IEEE Access, 2023
This study propose a novel flight robotics which is capable of achieving the arbitrary flight pose in six-degrees-of-freedom space. It uses multiple propellers to generate control force and torque. The corresponding control allocation algorithm is proposed in the sense of minimal energy consumption. The simulation results reveal the flight feasibility of the proposed novel flight robotics.
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An integral method for parameter identification of a nonlinear robot subject to quantization error
Published in Nonlinear Dynamics, 2023
This paper proposes a second-order integral method to identify the system parameter of a high-order nonlinear robotic system. Due to the model open-loop instability, the closed-loop excitation and the corresponding optimal excitation trajectory are presented. The simulation results the effectiveness of the proposed system identification algorithms.
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talks
Talk 1 on Relevant Topic in Your Field
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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