Nonlinear Control System Design for Drone

カテゴリ: 部門大会

論文No: GS2-3

グループ名: 【C】平成30年電気学会電子・情報・システム部門大会プログラム

発行日: 2018/09/05

タイトル(英語): Nonlinear Control System Design for Drone

著者名: 蔡 文静(中国地質大学),? 安彩(?沂大学),? ??(東京工科大学),大山 恭弘(東京工科大学),? 敏(中国地質大学)

著者名(英語): Wenjing Cai|Ancai Zhang|Jinhua She|Yasuhiro Ohyama|Min Wu

キーワード: EID|PID|NC|RS|Equivalent Input Disturbance|Proportional Integral Derivative|Nonlinear Control|Robust Stability

要約(日本語): Unmanned aerial vehicles are becoming popular and versatile among scientific researches and practical applications. Nevertheless, due to the complex nonlinearities and underactuation, the advanced control system design for unmanned aerial vehicles still has many theoretical and technical challenges.This paper presents an innovative approach on nonlinear control system design for a drone in point tracking mission. To construct a robust stable control system, the drone model is divided into two parts, the proportional integral derivative controller and the equivalent input disturbance controller work in the two parts, respectively. Finally, the numerical simulation results verify the feasibility and effectivity of our method.

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