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: 3400000, indirect: 1020000)
This report deals with modeling and control of a small unmanned aircraft. First, a nonlinear dynamical model is constructed from the equations of motion of a considered small unmanned aircraft and the aerodynamic characteristics generated by its wings. Furthermore, we develop a new design framework to stabilize the small unmanned aircraft. In addition, a rational polynomial fuzzy controller, which is an extension of the polynomial fuzzy controller, is also proposed, and control system design methods using these controllers are proposed. After verifying the effectiveness of the proposed design methods through simulations, flight experiments are conducted using the actual small unmanned aerial vehicle.