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Title
Japanese:全駆動ヘキサロータの切り替え位置・姿勢制御実験 
English:Experimental Verification of Switching Pose Regulation for a Fully-actuated Hexrotor Based on its Structure 
Author
Japanese: 吉岡 弘人, 伊吹 竜也, 三平 満司.  
English: Hiroto Yoshioka, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第15回「運動と振動の制御」シンポジウム 講演論文集 
English: 
Volume, Number, Page         B19
Published date Aug. 29, 2017 
Publisher
Japanese:日本機械学会 
English: 
Conference name
Japanese:第15回「運動と振動の制御」シンポジウム 
English: 
Conference site
Japanese:愛知県 
English: 
DOI https://doi.org/10.1299/jsmemovic.2017.15.b19
Abstract This paper provides experimental verifi cation of pose regulation of a fully-actuated hexrotor. Since a hexrotor has 6 inputs, 6 degrees of freedom of translational and rotational motion can be controlled independently. The previous research presents a switching control law combining exact linearization and first order approximation approaches. The exact linearization method enables to control 6 degrees of freedom independently, and the first order approximation method is advantageous to translational motion. The contribution of this work is to develop a hexrotor prototype and provide experimental verification of the switching control. First, a model of the fully-actuated hexrotor is described. Then, the configuration of the control system and the control methods are shown. In addition, the experimental system of the hexrotor prototype and the observation sysytem is described. Finally, translational flight experiments are conducted to evaluate the result.

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