6自由度マルチコプターの横滑り抑制制御

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タイトル別名
  • Sideslip Suppression Control of 6-DoF Multicopters

説明

<p>Multicopters tend to slide horizontally when they are tilted by wind or external forces. Such “sideslips” need to be prevented because it may cause unexpected collisions to external objects. This paper proposes a control method for 6-DoF multicopters that extends Momose and Kikuuwe’s controller to prevent slideslips. We forcuss on two types of sideslip: sideslip by lift force and sideslip by down force. The proposed controller is designed to select appropriate control modes according to the identified type of the sideslip. We performed simulations under side wind to test the proposed method. We also examined correlation between sideslip and falling distance.</p>

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