スライディングモード制御を用いたドローンのロバストな飛行制御

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タイトル別名
  • Robust flight control of a drone using sliding mode control

説明

<p>In recent years, the depopulation and aging of Japanese farmers become serious problems. An automation in agriculture is required to solve these problems. As one solution for automation, there is an automatic pesticide spraying using a drone. Moreover, spraying pesticides using a drone can solve issues such as the physical strain on workers when using a power spreader and the restriction that a field is not large enough to use a tractor. In this study, we propose a flight control method using sliding mode control to improve robustness. A mini quadcopter was used and the experiments were conducted at wind speed of 3 m/s. As the result, the lateral errors were decreased compared with the flight of PID control.</p>

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