限定極配置法による極の影響を考慮した4発ロータ型小型無人機の姿勢制御

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: 2015/08/01

タイトル(英語): Attitude Control of Quadrotor in Consideration of the Effects of a Pole Based on Limited Pole Placement

著者名: 菅原　康徳（芝浦工業大学大学院理工学研究科電気電子情報工学専攻），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): Yasunori Sugawara (Division of Electrical Engineering and Computer Science, Graduate School of Engineering, Shibaura Institute of Technology), Akira Shimada (Dept. of Engineering and Design, Shibaura Institute of Technology)

キーワード: ヘリコプタ，アクチュエータ，姿勢制御，非線形制御，限定極配置法　　helicopter，actuator，attitude control，non-linear control，LPP (limited pole placement)

要約(英語): This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the non-linear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipments. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.8 （2015）

本誌掲載ページ: 827-835 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/135/8/135_827/_article/-char/ja/