RBode plotを用いた風影響下におけるマルチコプターの目標軌道追従性能の改善法

抄録

In this paper, we propose a design method that enable us to improve the tracking error caused by flow-induced disturbance of a control system in multi copters. To solve the above-mentioned problem, we use the Robust Bode (RBode) plot for a feedback controller design in a control system of the multi copters. The RBode plot represents the robust performance criterion as allowable and forbidden regions on the open loop or the controller Bode plots. Using the RBode plot, control engineers can easily design controllers that suppress disturbances and account for perturbations of the controlled object with frequency response data alone. In the propose method, we also use a wavelet transformation in order to obtain a time frequency analysis of the tracking error caused by flow-induced disturbance. Experimental results show that the proposed method enable us to improve tracking error caused by flow-induced disturbance of the multi copters.