2026 年 17 巻 2 号 p. 411-424
This paper develops a new data-driven point-to-point control method that tracks a multicopter to desired points on a given trajectory in the 3D space based on just-in-time modeling, which is one of the data-driven and model-free control methods. First, a 3D transition control method based on dual-type just-in-time modeling, which can transfer the multicopter to a desired point, is proposed. Then, by repeating the 3D transition control method, we derive a 3D point-to-point control method for the multicopter. Numerical simulations illustrate that the proposed method can realize 3D point-to-point control for the multicopter with high accuracy, and hence it has the effectiveness.
