地上および天井移動する2輪型4ロータヘリコプタの追従制御

抄録

Two-wheeled quadrotor helicopter is a quadrotor helicopter with two independent wheels, and can not only fly in the air but also move on the ground and the ceiling. This paper considers the problem of controlling both the position and the attitude of the two-wheeled quadrotor helicopter on the ground and the ceiling. First, a new and practical tracking control system based on a flight controller is proposed. The control system makes it easy to design tracking controllers for the position and the yaw angle. The design problem is reduced to a usual state-feedback controller problem, and the design method is simple and straightforward by using well-known linear control theory, for example, LQR method. The effectiveness is demonstrated by some simulations and flight experiments moving on the ground and the ceiling.