Independent Attitude and Position Control of Non-planer Multi-rotor Helicopter
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- Hasegawa Naoki
- Canon Inc.
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- Suzuki Satoshi
- Chiba University
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- Kawamura Takashi
- Shinshu University
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- Shimizu Taku
- IHI Corporation
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- Ueno Hikaru
- IHI Corporation
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- Murakami Hiroki
- IHI Corporation
Bibliographic Information
- Other Title
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- 非平面マルチロータヘリコプタの姿勢・位置独立制御
Abstract
<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>
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 38 (2), 192-198, 2020
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390283659859890816
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- NII Article ID
- 130007809811
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- ISSN
- 18847145
- 02891824
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed