G151022 観測ノイズを有するX4フライヤーの非ホロノミック制御([G151-02]ロボティクスメカトロニクス部門,一般セッション(2))

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タイトル別名
  • G151022 Nonholonomic Control of X4-Flyers with Measurement Noises

抄録

Recently,VTOL aerial robots are expected to be used for collecting any information at the time of a disaster.The aerial robot called X4-Flyer can control at least three attitudes and one position by changing the rotor speed of four rotors.However,the control performance of a controller for the X4-flyer is deteriorated due to measurement noises generated by the rotational vibration of the rotors.Therefore,it is important to reduce the effect of such measurement noises on the controlled system.In this paper,when using a nonholonomic control method based on the Lyapunov stability theory to design a basic controller for the X4-Flyer,it aims at reducing the deterioration of the controller performance,which is caused by the influence of measurement noises,by processing such noises with an extended Kalman filter.The effectiveness of the proposed method is checked through numerical simulations.

収録刊行物

  • 年次大会

    年次大会 2013 (0), _G151022-1-_G151022-5, 2013

    一般社団法人 日本機械学会

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