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Title
Japanese: 
English:Circle Motion Control of Trirotor UAV via Discrete Output Zeroing 
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 52nd IEEE Conference on Decision and Control 
Volume, Number, Page         pp. 226-231
Published date Dec. 10, 2013 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:52nd IEEE Conference on Decision and Control 
Conference site
Japanese:フィレンツェ 
English:Florence 
DOI https://doi.org/10.1109/CDC.2013.6759886
Abstract In this paper, a nonlinear controller is designed for an underactuated UAV having three inputs to realize “circle motion”, the motion that the attitude of UAV points to the center of circle while the center of mass moves on a circle orbit. The proposed method is redesigning the time-varying output zeroing controller discretely. This method allows output functions to be kept zero even though output functions are changed. In other words, zero dynamics can be controlled by this method. Finally, numerical simulation shows the validity of the proposed nonlinear controller.

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