-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathch1.aux
224 lines (224 loc) · 11.3 KB
/
ch1.aux
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
\relax
\providecommand\hyper@newdestlabel[2]{}
\providecommand\zref@newlabel[2]{}
\citation{hobbyking}
\citation{phantom}
\citation{parrotar}
\citation{civilquadcopter}
\citation{agriculturequadcopter}
\citation{videosurveillancequadcopter}
\citation{dronelaw}
\citation{steadidrone}
\@writefile{toc}{\contentsline {chapter}{\numberline {1}Introduction}{1}{chapter.1}}
\@writefile{lof}{\addvspace {10\p@ }}
\@writefile{lot}{\addvspace {10\p@ }}
\newlabel{ch:intro}{{1}{1}{Introduction}{chapter.1}{}}
\@writefile{toc}{\contentsline {section}{\numberline {1.1}Foreword}{1}{section.1.1}}
\newlabel{sec:intro.foreword}{{1.1}{1}{Foreword}{section.1.1}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.1}A Brief Background to the Study}{1}{subsection.1.1.1}}
\newlabel{subsec:intro.foreword.background}{{1.1.1}{1}{A Brief Background to the Study}{subsection.1.1.1}{}}
\citation{ospreypatent}
\citation{ospreypatent}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.2}Research Questions and Hypotheses}{2}{subsection.1.1.2}}
\newlabel{subsec:intro.foreword.hypotheses}{{1.1.2}{2}{Research Questions and Hypotheses}{subsection.1.1.2}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.1}{\ignorespaces Bell/Boeing V22 Osprey actuation, notations pertinent to patent \cite {ospreypatent}\relax }}{2}{figure.caption.9}}
\providecommand*\caption@xref[2]{\@setref\relax\@undefined{#1}}
\newlabel{fig:osprey}{{1.1}{2}{Bell/Boeing V22 Osprey actuation, notations pertinent to patent \cite {ospreypatent}\relax }{figure.caption.9}{}}
\newlabel{eq:trajectoryerror}{{1.1}{2}{Research Questions and Hypotheses}{equation.1.1.1}{}}
\citation{cmg}
\citation{noteonlyapunov,bojelayupanov}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.3}Scope and Limitations}{3}{subsection.1.1.3}}
\newlabel{subsec:intro.foreword.scopeandlim}{{1.1.3}{3}{Scope and Limitations}{subsection.1.1.3}{}}
\@writefile{toc}{\contentsline {subsubsection}{Scope}{3}{subsection.1.1.3}}
\newlabel{subsubsec:intro.foreword.scope}{{1.1.3}{3}{Scope}{subsection.1.1.3}{}}
\citation{arnold,spacecraftkalman,attitudedetermination}
\citation{cobramotor}
\citation{cobramotor}
\citation{cobraimage}
\citation{cobraimage}
\citation{hobbyking}
\citation{hobbyking}
\@writefile{toc}{\contentsline {subsubsection}{Limitations}{4}{subsection.1.1.3}}
\newlabel{subsubsec:intro.foreword.limits}{{1.1.3}{4}{Limitations}{subsection.1.1.3}{}}
\citation{x4flyercontrol,intelligentbackstep,fullquadcoptercontrol}
\newlabel{fig:cobra}{{1.2a}{5}{Cobra CM2208/2000KV BLDC motor~\cite {cobraimage}\relax }{figure.caption.10}{}}
\newlabel{sub@fig:cobra}{{a}{5}{Cobra CM2208/2000KV BLDC motor~\cite {cobraimage}\relax }{figure.caption.10}{}}
\newlabel{fig:corona}{{1.2b}{5}{Corona DS-339MG digital servo~\cite {hobbyking}\relax }{figure.caption.10}{}}
\newlabel{sub@fig:corona}{{b}{5}{Corona DS-339MG digital servo~\cite {hobbyking}\relax }{figure.caption.10}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.2}{\ignorespaces Mechanical actuators\relax }}{5}{figure.caption.10}}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.4}Contributions of Study}{5}{subsection.1.1.4}}
\newlabel{subsec:intro.foreword.significance}{{1.1.4}{5}{Contributions of Study}{subsection.1.1.4}{}}
\citation{trajectorygeneration,planning,trajectorytracking}
\citation{osprey}
\citation{gres2007}
\citation{gres2007}
\citation{smalltwotilting,obliquepitch}
\citation{tiltrotorUAV,adaptivebackstep,tiltrotorcontrol,tpheonix}
\citation{gres2007,opposedlateraldualaxis}
\citation{obliquepitch}
\citation{tiltrotorUAV}
\citation{smalltwotilting,tpheonix}
\citation{adaptivebackstep}
\citation{autopilotPSO}
\citation{adaptivepso}
\citation{x4flyer,x4flyercontrol}
\citation{microraptor}
\citation{starmac}
\citation{dynamicmodelling2013,quaddynamics,fullquadcoptercontrol}
\citation{rigidbodylecture,eulerrigidbody}
\citation{lowreynolds,bem,starmac,nonlineardynamics}
\@writefile{toc}{\contentsline {section}{\numberline {1.2}Literature Review}{7}{section.1.2}}
\newlabel{sec:intro.litreview}{{1.2}{7}{Literature Review}{section.1.2}{}}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.2.1}Existing and Related Work}{7}{subsection.1.2.1}}
\newlabel{subsec:intro.lit.related}{{1.2.1}{7}{Existing and Related Work}{subsection.1.2.1}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.3}{\ignorespaces General structure for opposed tilting platform, \cite {gres2007}\relax }}{7}{figure.caption.11}}
\newlabel{fig:dualaxistilt}{{1.3}{7}{General structure for opposed tilting platform, \cite {gres2007}\relax }{figure.caption.11}{}}
\citation{djinspire}
\citation{djinspire}
\citation{inspire}
\citation{phantom}
\citation{tiltpropellercontrol,tiltpropellerflight}
\citation{mikrokopter}
\citation{singleaxistilting}
\citation{tiltgasco,tiltrihani}
\citation{napsholm}
\citation{autonomousrobotspitch}
\citation{tiltpropellercontrol}
\citation{tiltpropellercontrol}
\citation{napsholm}
\citation{napsholm}
\newlabel{fig:inspireup}{{1.4a}{8}{Inspire1 articulated upwards\relax }{figure.caption.12}{}}
\newlabel{sub@fig:inspireup}{{a}{8}{Inspire1 articulated upwards\relax }{figure.caption.12}{}}
\newlabel{fig:inspiredown}{{1.4b}{8}{Inspire1 articulated downwards\relax }{figure.caption.12}{}}
\newlabel{sub@fig:inspiredown}{{b}{8}{Inspire1 articulated downwards\relax }{figure.caption.12}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.4}{\ignorespaces DJI Inspire1, the notations are with regards to the DJI patent \cite {djinspire}\relax }}{8}{figure.caption.12}}
\newlabel{fig:inspire1}{{1.4}{8}{DJI Inspire1, the notations are with regards to the DJI patent \cite {djinspire}\relax }{figure.caption.12}{}}
\citation{napsholm}
\citation{tiltgasco}
\citation{tiltgasco}
\citation{tiltgasco}
\citation{tiltrihani}
\newlabel{fig:tiltpropellercontrol1}{{1.5a}{9}{Single aligned tilting axis, proposed in~\cite {tiltpropellercontrol}\relax }{figure.caption.13}{}}
\newlabel{sub@fig:tiltpropellercontrol1}{{a}{9}{Single aligned tilting axis, proposed in~\cite {tiltpropellercontrol}\relax }{figure.caption.13}{}}
\newlabel{fig:tiltrotor-napsholm}{{1.5b}{9}{Cyclic-pitch and swashplate mechanism from \cite {napsholm}\relax }{figure.caption.13}{}}
\newlabel{sub@fig:tiltrotor-napsholm}{{b}{9}{Cyclic-pitch and swashplate mechanism from \cite {napsholm}\relax }{figure.caption.13}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.5}{\ignorespaces Tilt-rotor mechanisms\relax }}{9}{figure.caption.13}}
\newlabel{fig:tiltprop}{{1.5}{9}{Tilt-rotor mechanisms\relax }{figure.caption.13}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.6}{\ignorespaces Dual-axis tilt-rotor mechanism used in \cite {tiltgasco}\relax }}{9}{figure.caption.14}}
\newlabel{fig:tiltrotor-gasco}{{1.6}{9}{Dual-axis tilt-rotor mechanism used in \cite {tiltgasco}\relax }{figure.caption.14}{}}
\citation{attitudecontrolproblem}
\citation{rigidbodylecture,eulerrigidbody,rotationsequences}
\citation{rotationsequences,spacecraftattitutdequaternions,fullquaternion}
\citation{attitudecontrolproblem}
\citation{adaptivedisturbancecontrol,optimizedpidquadcopter,singleaxistilting,backsteppingquadcoptercontrol,fullquadcoptercontrol}
\citation{euleranglesingularity}
\citation{attitudestabilization}
\citation{unwinding}
\citation{buildyourownquad}
\citation{buildyourownquad}
\citation{arducoptersite}
\citation{openpilotsite}
\citation{cleanflight}
\citation{betaflight}
\citation{buildyourownquad}
\@writefile{toc}{\contentsline {subsection}{\numberline {1.2.2}Notable Quadrotor Control Implementations}{10}{subsection.1.2.2}}
\newlabel{subsec:intro.lit.control}{{1.2.2}{10}{Notable Quadrotor Control Implementations}{subsection.1.2.2}{}}
\newlabel{eq:2}{{1.3a}{10}{}{equation.1.2.1}{}}
\@writefile{lof}{\contentsline {figure}{\numberline {1.7}{\ignorespaces ArduCopter PI control structure for pitch angle channel $\theta $; \cite {buildyourownquad}\relax }}{10}{figure.caption.15}}
\newlabel{fig:arducopter-pi}{{1.7}{10}{ArduCopter PI control structure for pitch angle channel $\theta $; \cite {buildyourownquad}\relax }{figure.caption.15}{}}
\citation{tpheonix}
\citation{attitudecontrolproblem}
\citation{attitudecontrolproblem}
\citation{tiltrihani}
\citation{fullquaternion,singleaxistilting}
\citation{optimizedpidquadcopter,attitudecontrolproblem,quaddynamics,tiltpropellercontrol,pidlqr}
\citation{attitudecontrolproblem,starmac,adaptivedisturbancecontrol}
\citation{x4flyer}
\citation{pidlqr}
\citation{tpheonix,backsteppingquadcoptercontrol}
\citation{backsteppingquadcoptercontrol}
\citation{adaptivebackstep,nonlinearadaptive,6dofbackstep,intelligentbackstep}
\citation{pidlqr,indoorslidingmode,fullquadcoptercontrol}
\citation{fullquadcoptercontrol}
\citation{pidlqr}
\citation{pidlqr}
\citation{backstepping}
\citation{nonlinearadaptive}
\citation{adaptiveregulation}
\citation{outputfeedback}
\citation{adaptiveslidingmode}
\citation{zeroTSK}
\@writefile{lot}{\contentsline {table}{\numberline {1.1}{\ignorespaces A breakdown of common attitude controllers\relax }}{11}{table.caption.16}}
\newlabel{tab:controllers}{{1.1}{11}{A breakdown of common attitude controllers\relax }{table.caption.16}{}}
\citation{singleaxistilting}
\citation{tiltgasco,tiltrihani}
\citation{tiltpropellercontrol,tiltpropellerflight}
\citation{allocation}
\citation{allocation}
\newlabel{subsubsec:intro.lit.control.allocation}{{1.2.2}{12}{}{table.caption.16}{}}
\newlabel{eq:3.1}{{1.4a}{12}{}{equation.1.2.1}{}}
\newlabel{eq:3.2}{{1.4b}{12}{}{equation.1.2.2}{}}
\newlabel{eq:3.3}{{1.7a}{12}{}{equation.1.2.1}{}}
\newlabel{eq:3.4}{{1.7b}{12}{}{equation.1.2.2}{}}
\citation{allocation,efficientallocation,adaptiveallocation}
\citation{allocation}
\citation{efficientallocation}
\citation{adaptiveallocation}
\citation{tiltgasco,tiltrihani}
\citation{moorepenrose}
\citation{tiltgasco,tiltrihani}
\citation{axissymmetricspacecraft,satellitebackstepping,lpvbackstepping}
\citation{lpvbackstepping}
\newlabel{eq:quadraticallocator}{{1.8}{13}{}{equation.1.2.8}{}}
\newlabel{eq:quadraticallocatorcost}{{1.9}{13}{}{equation.1.2.9}{}}
\newlabel{eq:1.10}{{1.10}{13}{}{equation.1.2.10}{}}
\citation{inertiaestimation}
\citation{satellitebackstepping}
\citation{satellitebackstepping}
\newlabel{eq:pseudoinv}{{1.12}{14}{}{equation.1.2.12}{}}
\newlabel{eq:pseudoinva}{{1.12a}{14}{}{equation.1.2.1}{}}
\newlabel{eq:pseudoinvb}{{1.12b}{14}{}{equation.1.2.2}{}}
\newlabel{eq:quaternion-trajectory.a}{{1.13a}{14}{}{equation.1.2.1}{}}
\@setckpt{ch1}{
\setcounter{page}{15}
\setcounter{equation}{13}
\setcounter{enumi}{2}
\setcounter{enumii}{4}
\setcounter{enumiii}{0}
\setcounter{enumiv}{0}
\setcounter{footnote}{0}
\setcounter{mpfootnote}{0}
\setcounter{part}{0}
\setcounter{chapter}{1}
\setcounter{section}{2}
\setcounter{subsection}{2}
\setcounter{subsubsection}{0}
\setcounter{paragraph}{0}
\setcounter{subparagraph}{0}
\setcounter{figure}{7}
\setcounter{table}{1}
\setcounter{r@tfl@t}{0}
\setcounter{Item}{6}
\setcounter{Hfootnote}{0}
\setcounter{bookmark@seq@number}{14}
\setcounter{vrcnt}{0}
\setcounter{FancyVerbLine}{0}
\setcounter{float@type}{4}
\setcounter{mdf@globalstyle@cnt}{0}
\setcounter{mdfcountframes}{0}
\setcounter{mdf@env@i}{0}
\setcounter{mdf@env@ii}{0}
\setcounter{mdf@zref@counter}{0}
\setcounter{ContinuedFloat}{0}
\setcounter{subfigure}{0}
\setcounter{subtable}{0}
\setcounter{tikztiming@nrows}{0}
\setcounter{tikztimingrows}{0}
\setcounter{tikztimingtrans}{0}
\setcounter{tikztimingtranspos}{0}
\setcounter{parentequation}{13}
\setcounter{theorem}{0}
\setcounter{corollary}{0}
\setcounter{axiom}{0}
\setcounter{section@level}{0}
}