PFCを有するクアッドロータ制御系に対する2自由度制御系設計

抄録

In this paper, we propose a control method of quadrotor based on the almost strictly positive real (ASPR) based output feedback control and backstepping strategy in order to realize safer and more accurate automatic flight. By adding parallel feedforward compensators (PFC) to the control system, an augmented system that satisfies ASPR property can be configured, and by controlling this augmented system, the number of steps in backstepping strategy can be reduced. In addition, in order to attain output tracking to arbitrary trajectory of the airframe position, the attitude angles are utilized to the input design in the backstepping strategy. Furthermore, we are constructing a two-degree-of-freedom control system with feedforward input added to the attitude angle control for accurate control performance. Finally, the usefulness of the proposed method will be verified though numerical simulation.