ツインCMGによるドローンの姿勢制御
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| Published in | 日本機械学会論文集 Vol. 88; no. 913; p. 22-00067 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | Japanese |
| Published |
一般社団法人 日本機械学会
2022
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2187-9761 |
| DOI | 10.1299/transjsme.22-00067 |
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| Author | 大内, 茂人 天野, 嘉春 小谷, 斉之 野口, 宏実 稲葉, 毅 長谷部, 信行 |
|---|---|
| Author_xml | – sequence: 1 fullname: 長谷部, 信行 organization: 早稲田大学理工学術院総合研究所 – sequence: 1 fullname: 天野, 嘉春 organization: 早稲田大学理工学術院総合研究所 – sequence: 1 fullname: 稲葉, 毅 organization: 東海大学 情報理工学部 – sequence: 1 fullname: 野口, 宏実 organization: （株）インフィテック – sequence: 1 fullname: 大内, 茂人 organization: 早稲田大学理工学術院総合研究所 – sequence: 1 fullname: 小谷, 斉之 organization: 釧路工業高等専門学校 |
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| References | Xie, Y., Cao, Y., Wang, B. and Ding, M., Disturbance observer based control of multirotor helicopters based on a universal model with unstructured uncertainties, Hindawi Publishing Corporation Journal of Robotics, Vol. 2015(2015), pp.1-10. Fujimoto, K., Yokoyama, M. and Tanabe, Y., I&I-based adaptive control of a four-rotor mini helicopter with uncertain aerodynamic parameters, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.77, No.782 (2011), pp.3721-3736(in Japanese). Kawai, H., Maneuver simulation of a spacecraft considering cmg gimbal axis torques, JAXA Research and Development Memorandum, JAXA-RM-030015(2004), pp.1-11(in Japanese). Niroumand, F. J., Fakharian, A. and Seyedsajadi, M. S., Fuzzy integral backstepping control approach in attitude stabilization of a quadrotor uav, 13th Iranian Conference on Fuzzy Systems (2013), pp.1-6. Ouchi, S., Kodani, N., Inoue, K., Inaba, T. , Miyashita,T. and Noguchi, H., Attitude control of a drone by a single CMG considering the translational system, Transactions of the JSME (in Japanese), Vol. 87, No. 895(2021), DOI: 10.1299/transjsme.20-00296. Hotta, K., Yamada, M. and Ooba, T., Adaptive tracking control of a four-rotor mini helicopter based on backstepping technique, Vol.50, No.2(2014), pp.177-184(in Japanese). Adachi, H., Yamada, M. and Ooba, T., Observer based tracking control of four-rotor mini helicopter, Proceedings of 54th jidoseigyo-rengo-kouenkai (2011), pp.1065-1068(in Japanese). Ohkami,Y.,Kida,T.,Yamaguchi,I., Dynamics of LSS, modeling and reduced order, Journal of the Society of Instrument and Control Engineers(in Japanese),Vol.26,No.10,(1987) ,pp.19-28. Komizunai, S., Uraok, M. and Konno, A., Thrust response experiments of a variable pitch propeller rotor, Transactions of the SICE, Vol.56, No.5(2020), pp.310-316 (in Japanese). Nishihara, O., Matsuhisa, H. and Sato, S., Vibration dumping mechanisms with gyroscopic moments, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.57, No.534(1991), pp.497-503 (in Japanese). Ouchi, S., Kodani, N., Hirata, H., Takahashi, K. and Chida, Y., Self-sustaining driving control of two-wheeled vehicle by using gyro- actuator, Transactions of the JSME (in Japanese), Vol. 81, No. 832(2015), DOI: DOI: 10.1299/transjsme.15-00207. Katayanagi.R, Aircraft Flight Dynamics and Control(2007), Morikita Publishing Co., Ltd. (in Japanese). Bouabdallah, S. and Siegwart, R., Backstepping and sliding-mode techniques applied to an indoor micro quadrotor, Proceedings of the 2005 IEEE, International Conference on Robotics and Automation Barcelona, Spain (2005), pp.2259-2264. Kiga, S., Ouchi, S., Hasebe, N., Kodani, N., Takamoto, Y. and Mubin, M., Attitude control of drones by back-stepping control, SICE Annual Conference (2017), pp.1-6. Nanamori, Y. and Takahashi, M., Steering law of control moment gyros using optimization of initial gimbal angles for satellite attitude control, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.74, No.747(2008), pp.80-86 (in Japanese). Nonami, K., Rigorous and simple modeling of small unmanned aircraft and model-based control, Journal of the Society of Instrument and Control Engineers, Vol.56, No.1(2017), pp.3-9 (in Japanese). Jacot, A. D. and Liska, D. J., “Control Moment Gyros in Attitude Control,” J. Spacecraft and Rockets, Vol.3, No.9(1966), pp.1313-1320. Abe, R. and Dodera, T., Motion and force (2001), pp.199-209, Foundation for the promotion of the Open University of Japan (in Japanese). Choi, Y. C. and Ahn, H. S., Nonlinear control of quadrotor for point tracking:Actual implementation and experimental tests, IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 20, No. 3(2015),pp.1179-1192. Jung, S., An Impedance force control approach to a quad-rotor system based on an acceleration-based disturbance Observer, Journal of Intelligent & Robotic Systems, Vol. 27 (2013), pp. 175-785. |
| References_xml | – reference: Ohkami,Y.,Kida,T.,Yamaguchi,I., Dynamics of LSS, modeling and reduced order, Journal of the Society of Instrument and Control Engineers(in Japanese),Vol.26,No.10,(1987) ,pp.19-28. – reference: Kiga, S., Ouchi, S., Hasebe, N., Kodani, N., Takamoto, Y. and Mubin, M., Attitude control of drones by back-stepping control, SICE Annual Conference (2017), pp.1-6. – reference: Choi, Y. C. and Ahn, H. S., Nonlinear control of quadrotor for point tracking:Actual implementation and experimental tests, IEEE/ASME TRANSACTIONS ON MECHATRONICS, Vol. 20, No. 3(2015),pp.1179-1192. – reference: Bouabdallah, S. and Siegwart, R., Backstepping and sliding-mode techniques applied to an indoor micro quadrotor, Proceedings of the 2005 IEEE, International Conference on Robotics and Automation Barcelona, Spain (2005), pp.2259-2264. – reference: Jacot, A. D. and Liska, D. J., “Control Moment Gyros in Attitude Control,” J. Spacecraft and Rockets, Vol.3, No.9(1966), pp.1313-1320. – reference: Xie, Y., Cao, Y., Wang, B. and Ding, M., Disturbance observer based control of multirotor helicopters based on a universal model with unstructured uncertainties, Hindawi Publishing Corporation Journal of Robotics, Vol. 2015(2015), pp.1-10. – reference: Adachi, H., Yamada, M. and Ooba, T., Observer based tracking control of four-rotor mini helicopter, Proceedings of 54th jidoseigyo-rengo-kouenkai (2011), pp.1065-1068(in Japanese). – reference: Hotta, K., Yamada, M. and Ooba, T., Adaptive tracking control of a four-rotor mini helicopter based on backstepping technique, Vol.50, No.2(2014), pp.177-184(in Japanese). – reference: Kawai, H., Maneuver simulation of a spacecraft considering cmg gimbal axis torques, JAXA Research and Development Memorandum, JAXA-RM-030015(2004), pp.1-11(in Japanese). – reference: Komizunai, S., Uraok, M. and Konno, A., Thrust response experiments of a variable pitch propeller rotor, Transactions of the SICE, Vol.56, No.5(2020), pp.310-316 (in Japanese). – reference: Nonami, K., Rigorous and simple modeling of small unmanned aircraft and model-based control, Journal of the Society of Instrument and Control Engineers, Vol.56, No.1(2017), pp.3-9 (in Japanese). – reference: Katayanagi.R, Aircraft Flight Dynamics and Control(2007), Morikita Publishing Co., Ltd. (in Japanese). – reference: Niroumand, F. J., Fakharian, A. and Seyedsajadi, M. S., Fuzzy integral backstepping control approach in attitude stabilization of a quadrotor uav, 13th Iranian Conference on Fuzzy Systems (2013), pp.1-6. – reference: Fujimoto, K., Yokoyama, M. and Tanabe, Y., I&I-based adaptive control of a four-rotor mini helicopter with uncertain aerodynamic parameters, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.77, No.782 (2011), pp.3721-3736(in Japanese). – reference: Jung, S., An Impedance force control approach to a quad-rotor system based on an acceleration-based disturbance Observer, Journal of Intelligent & Robotic Systems, Vol. 27 (2013), pp. 175-785. – reference: Abe, R. and Dodera, T., Motion and force (2001), pp.199-209, Foundation for the promotion of the Open University of Japan (in Japanese). – reference: Ouchi, S., Kodani, N., Hirata, H., Takahashi, K. and Chida, Y., Self-sustaining driving control of two-wheeled vehicle by using gyro- actuator, Transactions of the JSME (in Japanese), Vol. 81, No. 832(2015), DOI: DOI: 10.1299/transjsme.15-00207. – reference: Ouchi, S., Kodani, N., Inoue, K., Inaba, T. , Miyashita,T. and Noguchi, H., Attitude control of a drone by a single CMG considering the translational system, Transactions of the JSME (in Japanese), Vol. 87, No. 895(2021), DOI: 10.1299/transjsme.20-00296. – reference: Nanamori, Y. and Takahashi, M., Steering law of control moment gyros using optimization of initial gimbal angles for satellite attitude control, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.74, No.747(2008), pp.80-86 (in Japanese). – reference: Nishihara, O., Matsuhisa, H. and Sato, S., Vibration dumping mechanisms with gyroscopic moments, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.57, No.534(1991), pp.497-503 (in Japanese). |
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| SubjectTerms | CMG Control Drone Euler’s equation Gyroscopic effect Rotation coordinate |
| Title | ツインCMGによるドローンの姿勢制御 |
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