Proceedings of the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
Volume, Number, Page
pp. 281/282
Published date
May 17, 2011
Publisher
Japanese:
English:
Conference name
Japanese:
第55回システム制御情報学会研究発表講演会論文集
English:
the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
Conference site
Japanese:
大阪
English:
Osaka
Abstract
This paper proposes a nonlinear controller realizing periodic motion to MonoRotor type flying robot having no equilibrium point.The control target is semi-hovering; a motion that passes desired non-equilibrium point at which position and attitude stop periodically. In order to achieve this control objective, we propose discontinuous and time-varying output zeroing function which allows Zero Dynamics to be controlled, showing validity by numerical simulation.