小型無人航空機の誘導制御と自律飛行試験

• 藤永 仁

  大阪府立大学大学院

• 得竹 浩

  大阪府立大学大学院

• 砂田 茂

  大阪府立大学大学院

書誌事項

タイトル別名

• Guidance and Control of a Small Unmanned Aerial Vehicle and Autonomous Flight Experiments
• コガタ ムジン コウクウキ ノ ユウドウ セイギョ ト ジリツ ヒコウ シケン

抄録

This paper describes the development of a fixed-wing small-size UAV and the design of its flight controllers. The developed UAV’s wing span is 0.6m, and gross weight is 0.27kg. In order to ensure robust performances of the longitudinal and lateral-directional motions of the UAV, flight controllers are designed for these motions with μ-synthesis. Numerical simulations show that the designed controllers attain good robust stabilities and performances, and have good tracking performance for command. After an order-reduction and discretization, the designed flight controllers were implemented in the UAV. A flight test was performed, and the ability of the UAV to fly autonomously, passing over waypoints, was demonstrated.

収録刊行物

• 日本航空宇宙学会論文集

  日本航空宇宙学会論文集 56 (649), 57-64, 2008

  一般社団法人 日本航空宇宙学会

キーワード

• Unmanned Aerial Vehicle
• Flight Control
• Flight Experiment

詳細情報

• CRID: 1390282679447158144
• NII論文ID: 10021152872
• NII書誌ID: AA11307372
• DOI: 10.2322/jjsass.56.57
• ISSN: 24323691
• ISSN: 13446460
• NDL書誌ID: 9389149
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9389149
• Web Site: https://www.jstage.jst.go.jp/article/jjsass/56/649/56_649_57/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可