１自由度の可変チルト機構を有するクワッドロータの特異姿勢近傍での運動制御の検討

抄録

In recent years, the demand for unmanned aerial vehicles (UAVs) has increased in various fields such as spraying of agricultural chemicals, inspection of tunnels and bridges and transportation etc., so that they are expected to play an active role in other industrial applications. However, quadrotors that are currently in widespread use are underactuated system, making it difficult to control their arbitrary posture and position. Therefore, it is aimed at realizing free movement with free posture by making the UAVs be fully actuated system so that it can be used in narrow spaces. In addition, in some conventional studies, motion control in extreme postures has not been considered. In this study, the attitude of the UAV approaches up to near the singular point through simulations, and then its motion is controlled while keeping the attitude including such a point. Some problems in the control near the singular point are pointed out, and an improvement method is proposed.