STAアーキテクチャによるシングルコプタUAVの姿勢制御

抄録

Recently, increase the aging of a worker is the problem by the influence of decreasing birthrate and aging population. Transportation support by UAV is one of the methods to reduce physical burden. In transportation by existing UAVs, there is a limit to the weight in which transportation is possible.Therefore, we propose a transportation support system using multiple Single-Copter UAVs. In addition, the use of a contra-rotating motor makes it possible to carry a lightweight object with only one motor. In this paper, the attitude control of Single-Copter UAV is used by STA architecture. The STA architecture is possible to consider the state of the environment when cooperative control by multiple Single-Copter UAVs.By performing Neural Network learning and STA in parallel, it can predict the future posture angle and change the posture so that it approaches the target angle. The proposed system is verified using a test bench constrained to 1 DoF. As a result, it was suggested that the attitude control of UAV was possible in 1 DoF by STA architecture.