簡易動力学モデルを用いたクアッドチルトロータUAVの姿勢制御

抄録

Since a conventional multi-rotor UAV is an underactuated system due to the fixed thrust direction with respect to the base body, its attitude changes during translational movement and its position and attitude cannot be controlled independently. Therefore, a quad tilt-rotor UAV has been developed which is able to fly with control of six degrees of freedom by adding additional actuators to change the thrust direction. However, since the number of actuators increases, the control system becomes complicated. It induces difficulty of gain adjustment for stable flight. In this research, focusing on attitude control, we aim to develop a control system that does not require trial and error gain adjustment for a quad tilt-rotor UAV, and evaluate its validity with numerical simulation and flight experiment.