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Title
Japanese:不連続制御器を用いたMonoRotor飛行ロボットの非平衡点への周期安定化 
English:Periodic Motion Control for MonoRotor type Flying Robot at Non-equilibrium Point via Discontinuous Controller 
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55回システム制御情報学会研究発表講演会論文集 
English: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.

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