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Title
Japanese:受動性に基づくクアッドロータのダイナミクスを考慮した位置・姿勢同期制御 
English:Passivity-based Dynamic Pose Synchronization for Quadrotors 
Author
Japanese: 遠藤 眞覇人, 仲野 聡史, 伊吹 竜也, 三平 満司.  
English: Mahato Endou, Satoshi Nakano, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第4回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 1067-1073
Published date Mar. 6, 2017 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第4回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:岡山県 
English: 
Abstract This paper proposes a passivity-based dynamic pose synchronization for quadrotors. First, we describe a model for the quadrotor and get 3 linear dynamics of the yaw angle, height, and horizontal position, which are independent of each other. Next, we consider input transformations for the dynamics to be passive and develop passivity-based distributed control laws to achieve synchronization. We also prove that quadrotors track the target trajectories of velocity and roll-pitch angles with the control laws. Finally, we demonstrate the effectiveness of the present control laws through numerical simulations.

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