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Title
Japanese: 
English:Joint Optimization of Geometric Control and Structure of a Fully-actuated Hexrotor based on an Analytic HJBE solution 
Author
Japanese: 田所 祐一, 伊吹 竜也, 三平 満司.  
English: Yuichi Tadokoro, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of 2018 CDC 
Volume, Number, Page         pp. 1186-1191
Published date Dec. 17, 2018 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:2018 IEEE Conference on Decision and Control 
Conference site
Japanese: 
English:Miami Beach 
Abstract This paper proposes a joint optimization scheme of the structural design and control of a fully-actuated hexrotor unmanned aerial vehicle.The hexrotor dynamics is formulated on the special Euclidean group SE(3) which represents the position and attitude of a rigid body. An optimal control problem on SE(3) is then considered, and the optimal input and the associated viscosity solution of the Hamilton-Jacobi-Bellman equation are presented analytically. The solution, value function, expresses the minimum value of the cost function for a given initial state. The analytical form of the value function is then regarded as a function of structural variables, and the function is minimized by modifying the vehicle structure. A numerical example shows that the optimally-controlled optimal structure maximizes its dynamic manipulability measure. Moreover, the resulting structure and control system are shown to be energy-efficient.

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