Controller Performance for Quad-Rotor Vehicles Based on Sliding Mode Control
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- Oba Takayoshi
- Kyushu University
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- Bando Mai
- Kyushu University
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- Hokamoto Shinji
- Kyushu University
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抄録
<p>This study applies a sliding mode control (SMC) strategy for a robust controller of a quad-rotor vehicle. First, a controller combined with a nested control loop and an SMC is introduced, because a quad-rotor vehicle has only four control inputs although the vehicle has six degrees of freedom. The control performance for the feedback gains in the nested loop is investigated in numerical simulations. Subsequently, the effects of practical system limitations (control cycle and rotor dynamics) on the control performance are examined. Finally, the robust performance of the SMC strategy on a quad-rotor vehicle is discussed.</p>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 30 (3), 397-405, 2018-06-20
富士技術出版株式会社
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詳細情報 詳細情報について
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- CRID
- 1390001288045748864
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- NII論文ID
- 130007405730
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 029041711
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可