Abstract
In order to develop a flight control technique of a hovering type flying object with three rotors, simulations were conducted by means of the Verlet algorithm, which enables us to analyze the behavior of the flying object under a variety of conditions. Specifically, we here discuss how the shape and weight of the flying object affect the stability of the hovering flight, and also the possibility of attitude control in terms of the angle of the slope of the flying object, the angular velocity and the angular acceleration. As a result, for the case of the present unstable flying structure where the recovering force does not significantly function, the inclination angle and the angular velocity of the flying object are not sufficient for controlling the attitude, and therefore the incorporation of the angular acceleration is indispensable to successfully controlling the flying object in the stable situation of the hovering mode.
