規範モデル追従型モデル予測制御によるマルチロータヘリコプタの高精度編隊飛行制御

抄録

In recent years, multi-rotor helicopter has been attracting attention because it has a simple structure and excellent flight performance. In this paper, we present a formation control of multiple small-scale multi-rotor helicopters. In order to achieve the high-precision trajectory control, we use a model following type model predictive control in the translational and the altitude control . Experimental results are presented to show the feasibility of the control method.