抄録
Offer Organization: Japan Society for the Promotion of Science, System Name: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Category: Grant-in-Aid for Scientific Research (C), Fund Type: -, Overall Grant Amount: - (direct: 3500000, indirect: 1050000)
This reports mainly presents three new results with respect to nonlinear control for a flying robot that is a kind of fixed-wing type unmanned aerial vehicles. The first result is a nonlinear model construction including the aerodynamics and actuators dynamics. The second result is a guaranteed cost control design for the constructed nonlinear model. The controller is designed by minimizing the upper bound of a given quadratic performance function. Hence, the design can be regarded as a nonlinear optimal control design. The third result is that the utility of our modeling and control is demonstrated through real flight experiments.