スーパーツイスティングスライディングモード制御を用いたマルチロータUAVのロバスト姿勢・角速度制御

• 嶋村 涼介

  千葉大学

• 鈴木 智

  千葉大学

書誌事項

タイトル別名

• Robust Attitude and Angular Rate Control of Multi-rotor UAV using Super Twisting Sliding Mode Control

抄録

In recent years, multi-rotor UAV has been used in various fields. Among them, what is expected to be particularly active is the delivery of packages in the field of logistics and the transportation of relief supplies in the event of a disaster. In order to realize the transportation business using multi-rotor UAV, robust flight without sudden posture change is required. In this research, we focus on the design of the attitude and angular rate control system. We aim to realize an attitude control system of a multi-rotor UAV that is highly robust against disturbances that occur in the outdoor environment and modeling errors of controlled objects by using super twisting sliding mode (STSM) control. As a result of numerical simulations and demonstration experiments, it was shown that STSM control has excellent tracking performance and high robustness.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 40 (1), 62-70, 2022

  一般社団法人 日本ロボット学会

キーワード

• Super Twisting Sliding Mode Control
• Multi-rotor UAV
• Robust Control
• Attitude Control

詳細情報

• CRID: 1390853719908963072
• NII論文ID: 130008142031
• DOI: 10.7210/jrsj.40.62
• ISSN: 18847145
• ISSN: 02891824
• Web Site: https://www.jstage.jst.go.jp/article/jrsj/40/1/40_40_62/_pdf
• 本文言語コード: ja
• データソース種別:
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