Quantitative Stability Evaluation Based on Region of Attraction for Control Method Choice for Nonlinear Systems and Its UAV Application

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  • HARA Susumu
    連絡先著者（Corresponding author）：haras@nuae.nagoya-u.ac.jp 名古屋大学大学院工学研究科航空宇宙工学専攻
  • NAGAMATSU Hisashi
    名古屋大学大学院工学研究科航空宇宙工学専攻
  • NAKAMURA Jumpei
    名古屋大学大学院工学研究科航空宇宙工学専攻
  • HORIBE Takamasa
    名古屋大学大学院工学研究科航空宇宙工学専攻
  • TSUBAKINO Daisuke
    名古屋大学大学院工学研究科航空宇宙工学専攻

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Other Title
  • 非線形システムに対する制御則選択のための 吸引領域に基づく定量的安定性評価とそのUAVへの適用
  • ヒセンケイ システム ニ タイスル セイギョソクセンタク ノ タメ ノ キュウイン リョウイキ ニ モトズク テイリョウテキ アンテイセイ ヒョウカ ト ソノ UAV エ ノ テキヨウ

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When designing a system, its stability is one of very important information. When the object is a nonlinear system, there are few evaluation methods and it is mainly evaluated based on the skill of the designer. Region of attraction (RoA) is employed as a reasonable index for evaluating the stability of a nonlinear system, however, it is rarely used for control design because of the high computational load. Recently, a method with a comparatively small expense of calculation combined with the Monte Carlo method and the dichotomy method was proposed. By using this method, it is expected to give some kind of guide for trial and error in control design to the designer, and reduce the burden on the designer. This paper describes control design of a Quad Tilt Wing (QTW) Unmanned Aerial Vehicle (UAV) which is a type of vertical take-off and landing UAV as an example of applying the method to control design.

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