無人駕駛飛行載具（UAV）是可以進行遠距遙控的穩定飛行或路線規劃自主飛行的飛行載具，本論文所使用的無人載具為四旋翼，其優點在於垂直起飛和降落，並且可懸停在一個固定點。而本論文的最終目的是要達成四旋翼的自主飛行並完成軌跡追蹤，因此在整個過程可分做三大部分，分別是:(一)建立四旋翼的動力模型; (二)姿態及位置的資料整合以及(三)軌跡控制器的設計。
建立四旋翼的動力模型是為了能在模擬的環境下模擬四旋翼自主飛行的結果，避免每次的實際飛行造成機具的損壞，並且透過找出實際載具參數，使得動力模型盡量近似於實際載具的飛行情形。為了達到四旋翼準確的自主飛行，則須具備有精確的觀察器及穩定的控制器。首先，在觀察器方面，本論文分別建立高效率定向濾波器來取得正確的姿態，而位置的估計則是使用慣性測量儀的加速規估計目前位置並搭配全球定位系統在卡曼濾波器的修正來求得正確位置。控制器方面則是依Backstepping control 方式依序設計四旋翼姿態控制器及位置控制器，為了改善導航飛行加入軌跡控制器使得載具達到軌跡追蹤效果。最後，本論文由於未完成軌跡控制中的路徑規劃，所以在實驗結果的部分則是設計一個圓形軌跡來驗證軌跡控制器效果。

Unmanned aerial vehicle (UAV) is a stable, long-ranged remotely-controlled, autonomous aerial vehicles. In this thesis, the unmanned vehicles used is a quadrotor which has the advantage of vertical takeoff, landing and hovering. The goal is to achieve autonomous flight with precise trajectory tracking. Therefore, the thesis is divided into three parts: first, a dynamic model of the quadrotor, then the building of an attitude and position observer following by the design of the trajectory tracking controller.
First, we find out the dynamic model parameters to simulate the actual vehicle flights. Second, the attitude observer with high-efficiency orientation filter is designed to obtain the correct attitude. And the position observer uses the accelerometer signals to calculate the estimates of the current position which will be periodically corrected by the Global Positioning System using the Kalman filtering technique. Then, a cascaded attitude and position controller is designed by Backstepping method. In order to improve the vehicle trajectory-following performances, feed-forward control is also designed. Finally, a circular trajectory is used to validate the proposed trajectory controller.

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