入力飽和を考慮した飛行ロボットの誘導制御

抄録

In recent years, aerial robot such as multi-rotor helicopter has been used for several industrial missions and expected to use at time of disaster. When the aerial robot is adopted to such mission, it is desirable that the robot has autonomous flying capability. However, problems of autonomous control of aerial robot have been clarified through operation at real site, and input saturation problem is one of them. In this study, Model Following Type Model Predictive Control (MFMPC) is applied to guidance control of aerial robot to overcome the input saturation problem. This paper presents the problem statement, guidance control system design using MFMPC, and results of numerical simulation and flight experiment using designed guidance controller. From the results, effectiveness of designed MFMPC based guidance control system will be shown.