逆ダイナミクス法とPI制御を用いた速度距離制御系設計

抄録

The purpose of this paper is to introduce a velocity and distance control system for leader-following UAVs. In our previous paper, we already proposed a velocity and distance control system, but the system has a problem of ``offsets'' due to aerodynamic errors and/or leader trajectories. So in this paper, in order to eliminate the offset, a new approach of the velocity and distance control design is introduced. Simulation results show that the proposed velocity and distance control system provides a good performance and there are no offsets.