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Title
Japanese:ヘキサロータ型全駆動UAVの構造の性質を利用した最適制御 
English:Optimal Control Exploiting a Structural Property of a Fully-actuated Hexrotor UAV 
Author
Japanese: 田所 祐一, 伊吹 竜也, 三平 満司.  
English: Yuichi Tadokoro, Tatsuya Ibuki, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第5回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 474-479
Published date Mar. 8, 2018 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第5回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:東京 
English: 
Abstract This paper presents a geometric optimal controller for a fully-actuated hexrotor unmanned aerial vehicle (UAV). The aim of this research is to exploit a structural property, relation between the rotor thrust force and the vehicle acceleration, to improve the control performance. First, the system dynamics is expressed on the special Euclidean group SE(3). A geometric optimal control method based on geodesic distance on SE(3) is then provided and applied to the hexrotor UAV. The newly developed optimal control law allows to consider the structural property of the UAV in the cost function. It is finally shown that the minimum cost of the optimal control can be reduced by maximizing dynamic manipulability of the vehicle.

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