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Title
Japanese: 
English:Nonlinear Control and Model Analysis of Trirotor UAV Model 
Author
Japanese: 片岡 泰之, 関口 和真, 三平 満司.  
English: Yasuyuki Kataoka, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the 18th IFAC World Congress 
Volume, Number, Page         pp. 10391-10396
Published date Aug. 28, 2011 
Publisher
Japanese: 
English:IFAC 
Conference name
Japanese: 
English:The 18th IFAC World Congress 
Conference site
Japanese: 
English:Milano 
DOI https://doi.org/10.3182/20110828-6-IT-1002.02694
Abstract This paper reveals the minimal number of inputs for hovering control from the perspective of 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 particular 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 proposed 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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