Altitude Control of Quadcopters with Absolute Stability Analysis

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2022/07/01

タイトル(英語): Altitude Control of Quadcopters with Absolute Stability Analysis

著者名: Binh-Minh Nguyen (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute), Tetsuya Kobayashi (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute), Kazu

著者名(英語): Binh-Minh Nguyen (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute), Tetsuya Kobayashi (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute), Kazuhiro Sekitani (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute), Michihiro Kawanishi (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute), Tatsuo Narikiyo (Department of Advanced Science and Technology, Control System Laboratory, Toyota Technological Institute)

キーワード: absolute stability，altitude control，disturbance observer，flying vehicle，sector-bounded nonlinearity

要約(英語): This paper examines the vertical dynamics of a quadcopter, and presents an approach to achieve better altitude control. The control system includes a multi-sensor-based state observer for estimating vertical speed, a disturbance observer for improving system robustness, and a position controller for tracking the vehicle's altitude with respect to a reference value. This paper clarifies that it is essential to address the model of the propeller actuators to properly guarantee system stability. It was found that the altitude control system is a multi-input multi-output system. By showing the rank-1 interaction between the actuators, this paper derives the condition for the controller that ensures absolute stability of the control system. The condition can be checked conveniently using a graphical test with the Nyquist plot, thereby alleviating the complexity of system design and analysis. The effectiveness of the proposed approach is evaluated by both numerical simulations and real-time experiments. This approach can be easily extended to the motion control of other general multirotor vehicles.

本誌: IEEJ Journal of Industry Applications Vol.11 No.4 （2022）

本誌掲載ページ: 562-572 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/11/4/11_21010314/_article/-char/ja/