書誌事項
- タイトル別名
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- Independent Attitude and Position Control of Non-planer Multi-rotor Helicopter
抄録
<p>In this study, independent attitude and position control for non-planar multi-rotor helicopter is designed. Conventional multi-rotor helicopters have planar rotor arrangement, non-holonomic and under-actuated properties. Therefore, translational and rotational motion are coupled, and dynamics of attitude and position are not independent. This property is unfavorable on precise position control which is desired for several tasks such as inspection of infrastructure. From this background, we proposed non-planar multi-rotor helicopter which has both simple structure and fully actuated property. In this paper, independent attitude and position control for non-planar multi-rotor helicopter is designed on the basis of optimal control theory. Independence of attitude control and position control are verified by flight experiment. Finally, the superiority of proposed non-planar multi-rotor helicopter compared with conventional one is shown from the point of view of the hovering performance. </p>
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 38 (2), 192-198, 2020
一般社団法人 日本ロボット学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390283659859890816
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- NII論文ID
- 130007809811
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可