| Project/Area Number |
15560374
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nagoya Institute of Technology |
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Principal Investigator |
YAMADA Manabu Nagoya Institute of Technology, Graduate School of Engineering, Associate Professor, 工学研究科, 助教授 (40242903)
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| Co-Investigator(Kenkyū-buntansha) |
FUNAHASHI Yasuyuki Chukyo University, School of Life System Science and Technology, Professor, 生命システム工学部, 教授 (90023176)
MIZUNO Naoki Nagoya Institute of Technology, Graduate School of Engineering, Professor, 工学研究科, 教授 (30135404)
OOBA Tatushi Nagoya Institute of Technology, Graduate School of Engineering, Research Associate, 工学研究科, 助手 (90233254)
YAMADA Takayoshi Nagoya Institute of Technology, Graduate School of Engineering, Research Associate, 工学研究科, 助手 (00273318)
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| Project Period (FY) |
2003 – 2004
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| Project Status |
Completed (Fiscal Year 2004)
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| Budget Amount *help |
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 2004: ¥1,900,000 (Direct Cost: ¥1,900,000)
Fiscal Year 2003: ¥1,600,000 (Direct Cost: ¥1,600,000)
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| Keywords | airship / feedback control / nonlinear system / autonomous control system / global exponential stability / robust control / indoor flight experiment / nonholonomic constraint / チェインドシステム |
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| Research Abstract |
Airship is a unique vehicle which enables safe and long-duration flight and station keeping. Recently, the interest to unmanned airships has been increasing. Many interesting projects are in progress such as Stratospheric Platform Project, in which the stratospheric airship is utilized as a mobile and low-cost platform for high-speed wireless communication instead of satellites. The position and attitude control is one of the most important component technologies.
This study deals with the problem of controlling both the planar position and orientation of an under-actuated airship, which is a nonholonomic system with fewer independent inputs than degree of freedom to be controlled. A robust global stabilization problem is considered for the case where the dynamics of the underactuated airship are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation is utilized to reduce the problem of the airship to that of a linear system. The transformation is independent of the initial state of the system and is nonsingular. The following advantages are obtained. First, the case is dealt with where the dynamics are known and presents a new controller to guarantee exponential stability of the system for any initial states. The design method based on the well-known linear control theory is simple and straightforward. Second, the robust stabilization problem is considered for the uncertain airship with unknown but bounded parameters. The new problem is reduced to the well-known quadric stabilization problem for an uncertain linear system. The design method is simple, and it involves a certain algebraic Riccati equation. Finally, experimental results show the effectiveness of the proposed control system.
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