全駆動ヘキサロータの切り替え位置・姿勢制御実験

抄録

This paper provides experimental verification of pose regulation for a fully-actuated hexrotor. Since a hexrotor has 6 inputs, 6 degrees of freedom of translational and rotational motion can be controlled independently. The previous research presents a switching control law combining exact linearization and first order approximation approaches. The Exact linearization method enables to control 6 degrees of freedom independently, and the first order approximation method is advantageous to translational motion. The contribution of this work is to develop a hexrotor prototype and provide experimental verification of the switching control. First, a model of the fully-actuated hexrotor is described. Then, the configuration of the control system and the control methods are shown. In addition, the experimental system of the hexrotor prototype and the observation system is described. Finally, translational flight experiments are conducted to evaluate the result.