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タイトル
和文: 
英文:Circle Motion Control of Trirotor UAV via Discrete Output Zeroing 
著者
和文: 片岡 泰之, 関口 和真, 三平 満司.  
英文: Yasuyuki Kataoka, Kazuma Sekiguchi, Mitsuji Sampei.  
言語 English 
掲載誌/書名
和文: 
英文:Proceedings of 52nd IEEE Conference on Decision and Control 
巻, 号, ページ         pp. 226-231
出版年月 2013年12月10日 
出版者
和文: 
英文:IEEE 
会議名称
和文: 
英文:52nd IEEE Conference on Decision and Control 
開催地
和文:フィレンツェ 
英文:Florence 
DOI https://doi.org/10.1109/CDC.2013.6759886
アブストラクト In this paper, a nonlinear controller is designed for an underactuated UAV having three inputs to realize “circle motion”, the motion that the attitude of UAV points to the center of circle while the center of mass moves on a circle orbit. The proposed method is redesigning the time-varying output zeroing controller discretely. This method allows output functions to be kept zero even though output functions are changed. In other words, zero dynamics can be controlled by this method. Finally, numerical simulation shows the validity of the proposed nonlinear controller.

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