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Analysis and Control for Complicated Nonlinear Systems and Its Application to Flying Robots

Research Project

Project/Area Number 16K00327
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Soft computing
Research InstitutionThe University of Electro-Communications

Principal Investigator

Tanaka Kazuo  電気通信大学, 大学院情報理工学研究科, 教授 (00227125)

Co-Investigator(Kenkyū-buntansha) 田中 基康  電気通信大学, 大学院情報理工学研究科, 准教授 (50633442)
Research Collaborator Ohtake hiroshi  
WANG hua  
Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2018: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Keywordsファジィ制御 / 知能ロボティクス / Unmanned aerial vehicle
Outline of Final Research Achievements

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.

Academic Significance and Societal Importance of the Research Achievements

飛行ロボットは地上からは立ち入れない場所での状況把握や作業支援に利用できるため,人が立ち入ることのできない場所や災害などでの活用か可能であり,その社会貢献は絶大である.
ドローンに代表されるようなマルチコプタはホバーリングが可能であるが,飛行効率が悪いため長距離でのミッションには対応できない.本研究で対象としている翼を有する飛行ロボットは複雑かつ非線形な翼のAerodynamicsを考慮して飛行安定化しなければならないが,高速・長距離飛行可能なため飛行ロボットの本来の用途に適したものであり,このタイプの飛行ロボット研究の学術的意義もきわめて大きい.

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (12 results)

All 2018 2017 2016

All Journal Article (3 results) (of which Int'l Joint Research: 3 results,  Peer Reviewed: 3 results,  Acknowledgement Compliant: 1 results) Presentation (9 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] A Waypoint Following Control Design for a Paraglider Model With Aerodynamic Uncertainty2018

    • Author(s)
      Tanaka Kazuo、Tanaka Motoyasu、Takahashi Yutoku、Wang Hua O.
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: 23 Issue: 2 Pages: 518-523

    • DOI

      10.1109/tmech.2017.2728678

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Static output feedback design for a class of constrained Takagi?Sugeno fuzzy systems2017

    • Author(s)
      Nguyen Anh-Tu、Tanaka Kazuo、Dequidt Antoine、Dambrine Michel
    • Journal Title

      Journal of the Franklin Institute

      Volume: 354 Issue: 7 Pages: 2856-2870

    • DOI

      10.1016/j.jfranklin.2017.02.017

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] An SOS-based Control Lyapunov Function Design for Polynomial Fuzzy Control of Nonlinear Systems2017

    • Author(s)
      Radian Furqon, Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka and Hua O. Wang
    • Journal Title

      IEEE Transactions on Fuzzy Systems

      Volume: * Issue: 4 Pages: 775-787

    • DOI

      10.1109/tfuzz.2016.2578339

    • Related Report
      2017 Research-status Report 2016 Research-status Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Presentation] Control Synthesis for Polynomial Fuzzy Systems using Line-Integral Polynomial Fuzzy Lyapunov Function2018

    • Author(s)
      Jairo Moreno Saenz, Motoyasu Tanaka, Kazuo Tanaka
    • Organizer
      2018 IEEE International Conference on Systems, Man and Cybernetics
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A New Nonconvex Design Algorithm for Optimal Polynomial Fuzzy Control2018

    • Author(s)
      Kai-Yi Wong, Motoyasu Tanaka, Kazuo Tanaka
    • Organizer
      2018 IEEE International Conference on Systems, Man and Cybernetics
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Flying-wing 型飛行ロボットのモデル構築と飛行安定化制御2017

    • Author(s)
      尾鷲真士,田中基康,田中一男
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Research-status Report
  • [Presentation] パラフォイール型飛行ロボットの最適2 次コスト保証制御2017

    • Author(s)
      岩瀬惟真,Kai-Yi Wong,田中基康,田中一男
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Research-status Report
  • [Presentation] Stabilization Conditions for a Class of Nonlinear Systems via Line-Integral Fuzzy Lyapunov Function2017

    • Author(s)
      Jairo Moreno Saenz, Motoyasu Tanaka and Kazuo Tanaka
    • Organizer
      第60回自動制御連合講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 多項式システム記述に基づく飛行ロボットの経路追従制御系設計と実験による検証2017

    • Author(s)
      岩瀬惟真,田中基康,田中一男
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会2017
    • Related Report
      2017 Research-status Report
  • [Presentation] Positivstellensatz relaxation for sum-of-squares stabilization conditions of polynomial fuzzy systems2017

    • Author(s)
      Ashar Alissa Ully、Tanaka Motoyasu、Tanaka Kazuo
    • Organizer
      17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Stability analysis for polynomial fuzzy systems based on line-integral fuzzy Lyapunov function: A copositive relaxation approach2017

    • Author(s)
      Saenz Jairo Moreno、Tanaka Motoyasu、Tanaka Kazuo
    • Organizer
      17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Flying-wing型UAVの制御系設計と飛行実験による検証2016

    • Author(s)
      伊藤唯,遠藤祐甫,田中基康,田中一男
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      パシフィコ横浜(神奈川・横浜)
    • Related Report
      2016 Research-status Report

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Published: 2016-04-21   Modified: 2020-03-30  

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