| Project/Area Number |
25420215
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Electro-Communications |
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Principal Investigator |
Kazuo Tanaka 電気通信大学, 大学院情報理工学研究科, 教授 (00227125)
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| 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, 助教 (50633442)
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| Co-Investigator(Renkei-kenkyūsha) |
OHTAKE Hiroshi 九州工業大学, 大学院情報工学研究院, 准教授 (60377017)
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| Research Collaborator |
WANG Hua Boston大学, 工学部, 准教授
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2014: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2013: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 飛行ロボット / 無人航空機 / 自動着陸 / 非線形制御 / スマート飛行 |
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| Outline of Final Research Achievements |
This report presents a framework for development and control of a smart unmanned aerial vehicle (UAV). The framework provides a smart and feasible way of automatic landing control and wind direction/velocity estimation. To achieve the automatic landing control, we construct a nonlinear dynamical model and design a stable altitude controller based on the nonlinear dynamics. In addition, a nonlinear observer is designed to estimate wind direction/velocity during flight of the small UAV. Several long flight experiments have been carried out in an aerospace field, Japan. The experimental results show the capabilities of the framework for development and control of a smart UAV in realizing rescue missions.
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