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Title
Japanese:ガウス過程回帰による未知モデル学習に基づく全駆動ヘキサロータのロバスト制御 
English:Robust Control for a Fully-actuated Hexrotor Based on Gaussian Process Regression 
Author
Japanese: 吉岡弘人, 杉森敦人, 伊吹竜也, 三平満司.  
English: Hiroto Yoshioka, Atsuto Sugimori, Tatsuya Ibuki, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第6回計測自動制御学会制御部門マルチシンポジウム(USB) 
English: 
Volume, Number, Page         2G2-5
Published date Mar. 7, 2019 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第6回計測自動制御学会制御部門マルチシンポジウム 
English: 
Conference site
Japanese:熊本 
English: 
Abstract This paper presents a novel robust control approach for a fully-actuated hexrotor based on Gaussian process regression(GPR). A state-space model considering aerodynamic disturbances as unknown dynamics is first built as the hexrotor dynamical model. GPR is next introduced as a learning method of the unknown dynamics. Then, a robust control method to ensure uniform ultimate boundedness on the control error is proposed. Finally, the effectiveness of the present method is shown by landing experiments near a wall.

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