Abstract
A flying robot with four jet engines was developed in Toyo University. Each jet engine of this robot is supported by a 2DOF gimbal and the two motors control the attitude of the gimbal. Therefore, this system has redundancy. In this paper, a stabilizing control law for this robot is proposed. At first, the control law for achieving the desired position and attitude of the body is designed based on the Lyapunov's stability theorem. Then, a distribution rule for deciding the angles of the gimbals is proposed. The behavior of the controlled system with a fault in actuators is examined in numerical simulations.
