本論文以小型傾轉式涵道風扇噴氣四軸飛行器為研究對象，此飛行器是一種使用涵道風扇 (Ducted Fan) 為動力，透過推力向量控制的方式來提供升力、動力以及控制力矩的新結構飛行器。傾轉式涵道風扇飛行器具備垂直起降 (VTOL)、低空飛行與空中懸停的特點，提供未來飛行車的概念原型，有著廣泛應用的前景。首先對涵道風扇的性能規格進行量測，設計傾轉式涵道風扇飛行器的整體構型，針對傾轉飛行模式與動力學特性進行了推導分析，建立飛行器的剛體運動模型。為解決系統的耦合性與干擾等影響，設計了基於自抗擾控制 (ADRC) 理論的控制器，使用追蹤微分器 (TD) 安排暫態過程，引入擴展狀態觀測器 (ESO) 估計系統的內外干擾，利用非線性狀態誤差回授控制器 (NLSEF) 對干擾進行補償，最後輸出較理想的控制訊號。將自抗擾控制技術應用於飛控系統中，優化與改良了傾轉過程時的狀態，增強了系統的強健性和抗干擾能力，並且能夠快速、穩定與精準地實現飛行器的姿態與運動控制。論文中展示理論推導與多項模擬結果，並且實際驗證飛行運動的響應，證明此傾轉式涵道風扇噴氣四軸飛行器之可行性與良好的控制性能。

This thesis focuses on a study of a small tilting ducted fan jet quadcopter. This quadcopter utilizes a ducted fan for propulsion and employs thrust vectoring control to provide lift, propulsion, and control torque, establishing a novel structural design. The tilting ducted fan quadcopter features vertical takeoff and landing (VTOL), low-altitude flight, and hovering capabilities, serving as a conceptual prototype for future flying cars and offering broad prospects for applications. The research begins with measuring the performance specifications of the ducted fan. The overall configuration of the tilting ducted fan quadcopter is designed, and an analytical derivation is conducted for the tilting flight mode and dynamic characteristics. A rigid body dynamic model for the quadcopter is established. A controller based on the Active Disturbance Rejection Control (ADRC) theory is designed to address the issues of system coupling and disturbances. Transient processes are managed using Tracking Differentiators (TD), an Extended State Observer (ESO) is introduced to estimate internal and external disturbances, and a Nonlinear State Error Feedback (NLSEF) controller is employed to compensate for disturbances, ultimately yielding more desirable control signals. Applying ADRC technology to the flight control system, the tilt process is optimized and refined, enhancing system robustness and disturbance rejection capabilities. This approach enables rapid, stable, and precise control of the aircraft's attitude and motion. The thesis showcases theoretical derivations, multiple simulation results, and practical validation of flight maneuvers, demonstrating the feasibility and excellent control performance of the tilting ducted fan jet quadcopter.

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