Design of Optimal Guidance and Control in Real Time for Swarming System

• Project/Area Number: 21560822
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Aerospace engineering
• Research Institution: Nihon University
• Principal Investigator: UCHIYAMA Kenji 日本大学, 理工学部, 准教授 (90281691)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000); Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
• Keywords: スウォーミングシステム / フォーメーションフライト / 無人飛行機 / ポテンシャル関数誘導法 / 分岐理論 / 最適誘導制御 / 状態推定 / リアルタイム性

Research Abstract

Guidance method has been developed for swarming system to accomplish real time control. The guidance law was derived by using the potential function method to decrease calculation-task load. The proposed method was applied to problem of formation flight of UAVs. Various formation patterns in three-dimensional space can be formed by applying bifurcating theory to the potential function method. The validity of the guidance law was verified by numerical simulations. The UAV was developed to realize formation flight by using the guidance and control system. The steady flight was achieved in the developed potential fields.

Research Products

• [Journal Article] 固定翼UAVにおける遷移飛行の制御系設計 (2012)
  • Author(s): 小粂昌範, 内山賢治
  • Journal Title: 日本航空宇宙学会論文集 Volume: Vol.60, No.4(掲載決定)
  • NAID: 10031145032
  • Peer Reviewed
• [Journal Article] 速度場に分岐理論を適用したUAVの3次元フォーメーションフライト (2011)
  • Author(s): 鈴木真之, 内山賢治
  • Journal Title: 日本航空宇宙学会論文集 Volume: Vol.59 Pages: 259-265
  • NAID: 10030274917
  • Peer Reviewed
• [Journal Article] Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles (2011)
  • Author(s): D. Bennet, C. McInnes, M. Suzuki, and K. Uchiyama
  • Journal Title: Journal of Guidance, Control, and Dynamics Volume: Vol.34 Pages: 1899-1008
  • Peer Reviewed
• [Journal Article] Fault-Tolerant Adaptive Flight Control System Using Feedback Linearization, Guidance (2011)
  • Author(s): T. Namba and K. Uchiyama
  • Journal Title: Navigation, and Control Conference
  • Peer Reviewed
• [Journal Article] Control Architecture for Transition from Level Flight to Hover of a Fixed-Wing UAV (2011)
  • Author(s): M. Kokume and K. Uchiyama
  • Journal Title: 37th Annual Conference of the IEEE Industrial Electronics Society Pages: 475-480
• [Journal Article] Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles (2011)
  • Author(s): D.Bennet, C.McInnes, M.Suzuki, K.Uchiyama
  • Journal Title: Journal of Guidance, Control, and Dynamics Volume: 34 Issue: 6 Pages: 1899-1008
  • DOI: 10.2514/1.53931
  • Peer Reviewed
• [Journal Article] Fault-Tolerant Adaptive Flight Control System Using Feedback Linearization (2011)
  • Author(s): T.Namba, K.Uchiyama
  • Journal Title: Guidance, Navigation, and Control Conference
  • Peer Reviewed
• [Journal Article] Control Architecture for Transition from Level Flight to Hover of a Fixed-Wing UAV (2011)
  • Author(s): M.Kokume, K.Uchiyama
  • Journal Title: Proc.37th Annual Conference of the IEEE Industrial Electronics Society Pages: 475-480
• [Journal Article] Guidance Law Based on Bifurcating Velocity Field for Formation Flight (2010)
  • Author(s): M. Kokume and K Uchiyama
  • Journal Title: AIAA Guidance, Navigation, and Control Conference
  • Peer Reviewed
• [Journal Article] Autonomous Formation Flight Using Bifurcating Potential Fields (2010)
  • Author(s): M. Suzuki and K. Uchiyama
  • Journal Title: ICAS Volume: (CD-ROM)
• [Journal Article] Guidance Law Based on Bifurcating Velocity Field for Formation Flight (2010)
  • Author(s): Masanori Kokume
  • Journal Title: AIAA Guidance, Navigation, and Control Conference
  • Peer Reviewed
• [Journal Article] Autonomous Formation Flight Using Bifurcating Potential Fields (2010)
  • Author(s): Masayuki Suzuki
  • Journal Title: Proceedings of ICAS Volume: (CD-ROM)
• [Journal Article] Three-Dimensional Formation Flying Using Bifurcating Potential Fields (2009)
  • Author(s): M. Suzuki and K. Uchiyama
  • Journal Title: AIAA Guidance, Navigation, and Control Conference
  • Peer Reviewed
• [Journal Article] Three-Dimensional Formation Flying Using Bifurcating Potential Fields (2009)
  • Author(s): M.Suzuki, K.Uchiyama D.Bennet, C.R.McInnes
  • Journal Title: Proceedings of AIAA Guidance, Navigation, and Control Conference
  • Peer Reviewed
• [Presentation] ポテンシャル関数誘導法を用いたUAVの誘導制御 (2011)
  • Author(s): 長尾讓次, 藤田大輔, 矢野有馬, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京・日本大学理工学部
  • Year and Date: 2011-11-26
• [Presentation] 外乱抑制に基づくUAVの飛行制御系設計 (2011)
  • Author(s): 天野貴裕, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京・日本大学理工学部
  • Year and Date: 2011-11-26
• [Presentation] ポテンシャル関数誘導法を用いたUAVの誘導制御 (2011)
  • Author(s): 長尾譲次, 藤田大輔, 矢野有馬, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2011-11-26
• [Presentation] 外乱抑制に基づくUAVの飛行制御系設計 (2011)
  • Author(s): 天野貴裕, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2011-11-26
• [Presentation] 小型無人飛行機におけるシステム同定 (2010)
  • Author(s): 北澤一麿, 難波徹, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京・日本大学理工学部
  • Year and Date: 2010-11-27
• [Presentation] Robust Reconfigurable Flight Control System Using Feedback Linearization (2010)
  • Author(s): T. Namba and K. Uchiyama
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京・日本大学理工学部
  • Year and Date: 2010-11-27
• [Presentation] 速度場を用いた誘導則によるUAVのフォーメーションフライト (2010)
  • Author(s): 中森荘輝, 阿部貴裕, 小粂昌範, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京・日本大学理工学部
  • Year and Date: 2010-11-27
• [Presentation] Analytical Control for Interplanetary Solar Sail Trajectories with Constraints (2010)
  • Author(s): K. Uchiyama
  • Organizer: Global Lunar Conference
  • Place of Presentation: Beijing
  • Year and Date: 2010-06-01
• [Presentation] Analytical Control for Interplanetary Solar Sail Trajectories with Constraints (2010)
  • Author(s): Kenji Uchiyama
  • Organizer: GLUC
  • Place of Presentation: 北京
  • Year and Date: 2010-06-01
• [Presentation] 分岐理論を用いたポテンシャル場によるUAVのフォーメーションフライト (2009)
  • Author(s): 小粂昌範, 内山賢治
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京・日本大学理工学部
  • Year and Date: 2009-11-28
• [Presentation] 分岐理論を用いたポテンシャル場によるUAVのフォーメーションフライト (2009)
  • Author(s): 小粂昌範
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2009-11-28
• [Presentation] UAVの安定微係数の同定方法の検討 (2009)
  • Author(s): 松尾晴菜
  • Organizer: 日本大学理工学部学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2009-11-28
• [Presentation] Three-Dimensional Formation Flying Using Bifurcating Potential Fields (2009)
  • Author(s): Masayuki Suzuki
  • Organizer: AIAA Guidance, Navigation, and Control Conference
  • Place of Presentation: シカゴ
  • Year and Date: 2009-08-11