ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-D04
会議情報
2A2-D04 地上走行する空陸水万能な2輪型4ロータヘリコプタのモデリングと入出力線形化に基づく適応追従制御(飛行ロボット・メカトロニクス(2))
佐藤 百合菜高橋 七奈山下 修平朽名 佑太山田 学
著者情報
会議録・要旨集 フリー

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抄録
This paper deals with a new all-round Unmanned Aerial Vehicle (UAV) for Air-Land-Sea. The new UAV is a quadrotor helicopter with two rolling protect-flames, and can not only fly in the air but also move on the ground, the wall, the ceiling and the water. In this paper, firstly, the dynamic equation is presented of the new UAV, which is described by a set of nonlinear equations. Secondly, a useful controller design method based on the input-output linearization is proposed for the position tracking control. The design problem is reduced to that of a linear system, and the design method is simple and straightforward.
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© 2014 一般社団法人 日本機械学会
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