モーメント外乱オブザーバを併用したクアッドロータの1軸拘束条件下における姿勢制御

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: 2024/04/01

タイトル(英語): Enhanced Attitude Stabilization of Quadrotors Using a Single-Axis Constraint Moment Disturbance Obserner

著者名: 一柳　温寛（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）

著者名(英語): Atsuhiro Ichiryu (Electrical Engineering and Computer Science, Graduate School of Engineering and Science, Shibaura Institute of Technology), Akira Shimada (Dept. of Engineering and Design, Shibaura Institute of Technology)

キーワード: モーションコントロール，UAV，外乱オブザーバ　　motion control，unmanned aerial vehicle，disturbance observer

要約(英語): This study proposes a maintaining a quadrotor's attitude system using a ‘moment disturbance observer’ aimed at enhancing stability. In recent years, quadrotors have become increasingly prevalent in sectors such as agriculture, surveying, logistics, aerial photography, infrastructure inspection, and security. However, with their growing, there have been concerns about potential physical and human harm stemming from accidents. The Ministry of Land, Infrastructure, Transport, and Tourism has reported accidents attributed to challenging maneuvering conditions that have resulted in crashes. This study aims to develop a quadrotor that can maintain a stable attitude during sudden and significant alterations in its orientation. We suggest employing a moment disturbance observer to estimate the necessary moments for stable attitude maintenance. Numerical simulation results show that the proposed method surpasses traditional PID control in terms of attitude stabilization. Furthermore, this method resulted in superior attitude stability in single-axis experiments with a mechanically constrained quadrotor compared to conventional PID control methods.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.144 No.4 （2024） 特集：モータドライブと関連技術

本誌掲載ページ: 257-264 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/144/4/144_257/_article/-char/ja/