| Project/Area Number |
22K14283
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | The University of Tokyo |
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Principal Investigator |
NGUYEN BINH MINH 東京大学, 大学院新領域創成科学研究科, 特任助教 (30940176)
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| Project Period (FY) |
2022-04-01 – 2024-03-31
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| Project Status |
Completed (Fiscal Year 2023)
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| Budget Amount *help |
¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2023: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2022: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Keywords | glocal control / multi-rotor / multi-agent-system / altitude control / attitude control / disturbance observer / loss of effectiveness / hierarchical control / robust stability / drone / fault tolerance / absolute stability / multi-agent system / flying vehicle / motion control / global control |
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| Outline of Research at the Start |
+ From 2022/04 to 2023/03, we propose the methodology to analyze the stability of the quadcopter system with respect to the local propeller dynamics.
+ From 2023/04 to 2024/03, we develop a dual-motor's glocal control system, and analyze the trade-off between the global and local objectives.
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| Outline of Final Research Achievements |
This study has been established the background for glocal motion control of multi-rotor flying vehicles (MRFVs). This study shows that to properly design the controller, the MRFV should be modelled as a multi-agent system, in which each propeller physically interacts with each other via the MRFV body. Based on this philosophy, several approaches have been developed with disturbance observer and fault tolerant control. A generalized frequency variable approach was proposed to guarantee the stability of the landing control system. A robust altitude control system was designed with absolute stability analysis considering the nonlinear thrust characteristic. The trade-off between the global performance (attitude control) and local performance (propeller speed control) was clarified based on a nominal model set to be shared between the upper- and lower-layers. A dual-propeller test-bench was developed for not only proposed method validation but also advanced motion control education.
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| Academic Significance and Societal Importance of the Research Achievements |
This research can be seen as a transdisciplinary study that establishes a bridge between multi-agent control theory and motion control of multi-rotor.
Besides, it contributes a brick to the development of flying vehicle society, international collaboration, and education in Japan.
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