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Title
Japanese:Trirotor型UAVのシステム解析と非線形制御 
English: 
Author
Japanese: 片岡泰之, 関口和真, 三平満司.  
English: Yasuyuki Kataoka, Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第11回制御部門大会論文集 
English: 
Volume, Number, Page         18624
Published date Mar. 2011 
Publisher
Japanese: 
English: 
Conference name
Japanese:第11回制御部門大会 
English: 
Conference site
Japanese:沖縄、日本 
English: 
Abstract This paper reveals the minimal number of inputs for hovering control to UAV based on nonlinear control system theory. Then, a nonlinear controller is designed to obtain meaningful motion for an underactuated UAV with the consideration of the limitation acknowledged through the model analysis. Throughout this paper, a paticular UAV model having three rotors is considered as a controlled object. First, nonlinear state equations are computed with valid assumptions. Next, the model analysis reveals that hovering control is impossible for not only the suggesting model but also a generic three-inputs model through the argument of Locally Asymptotically Stabilizability(LAS). Finally, numerical simulation confirms that position control is realizable via Output Zeroing Control along with preferable attitude.

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