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Title
Japanese: 
English:Experiment of Height and Attitude Control Using Monorotor Unmanned Aerial Vehicle 
Author
Japanese: 藤田 祥平, 関口 和真, 三平 満司.  
English: Shohei Fujita, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of SICE Annual Conference 2012 
Volume, Number, Page         pp. 1986-1990
Published date Aug. 21, 2012 
Publisher
Japanese:計測自動制御学会 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2012 
Conference site
Japanese:秋田県 
English:Akita 
Abstract This paper shows the usefulness of the nonlinear controller realizing periodic motion of monorotor UAV by experiments. Monorotor UAV has no equilibrium point. So, the control target is semi-hovering; a motion that passes desired non-equilibrium point at which height and attitude stop periodically. In order to achieve this control objective, we propose discontinuous and time-varying output zeroing controller which allows zero dynamics to be controlled. The numerical simulation and experiments show the validity of suggesting controller design method.

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