風外乱を考慮した小型飛行船ロボットの一制御法

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/05/01

タイトル(英語): Wind-Disturbance-Based Control Approach for Blimp Robots

著者名: 古川　隼也人（芝浦工業大学大学院機械工学専攻），島田　明（芝浦工業大学デザイン工学部デザイン工学科）

著者名(英語): Hayato Furukawa (Div. of Mechanical Engineering, Graduate School of Engineering, Shibaura Institute of Technology), Akira Shimada (Dept. of Engineering and Design, Shibaura Institute of Technology)

キーワード: 飛行船，モーションコントロール，ノンホロノミック，風外乱，風推定オブザーバ　　blimp，motion control，non-holonomic，wind disturbance，wind observer

要約(英語): Blimps have some advantages, for example, that they do not need driving forces to float and can move in three-dimensional space. However, it is not easy to control them since they are underactuated systems with nonholonomic constraints. Some papers have presented control technologies, but the technologies need impractical conditions. Furukawa et al. presented a blimp control technology by considering a nonholonomic situation, but it cannot be used to control blimps in the presence of wind disturbances. This paper introduces a wind-observer-based control approach that involves the consideration of wind disturbances. A controller based on the proposed approach can generate a driving force in the direction opposite to that of a wind disturbance and help a blimp move against the wind.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.5 （2012）

本誌掲載ページ: 549-555 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/5/132_5_549/_article/-char/ja/