「運動と振動の制御」シンポジウム講演論文集
Online ISSN : 2424-3000
セッションID: A207
会議情報
A207 単純適応制御を用いたマルチロータヘリコプタの角速度制御(OS11 自律知能無人ビークルの運動と制御1)
柳沢 祐樹鈴木 智市川 智康栗原 寛典隅田 和哉
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会議録・要旨集 フリー

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In this study, we design the adaptive control system for multi-rotor helicopter. Currently, multi-rotor helicopter has been used not only for research and development but also many practical tasks. However, controller tuning of the multi-rotor helicopter is still depend on human operator, and it is an obstacle for construction of the market of the multi-rotor helicopter. On such background, Simple Adaptive Control (SAC) is applied to the multi-rotor helicopter to realize auto-tuning system. Firstly, mathematical model of the helicopter is derived. Next, adaptive PID controller with Parallel Feedforward Compensator (PFC) is designed based on derived mathematical model. Finally, numerical simulation is carried out to verify the effectiveness of proposed adaptive control system.
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© 2015 一般社団法人 日本機械学会
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