| Project/Area Number |
25420435
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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 |
Control engineering/System engineering
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| Research Institution | Nagoya Institute of Technology |
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Principal Investigator |
Yamada Manabu 名古屋工業大学, 工学(系)研究科(研究院), 教授 (40242903)
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| Co-Investigator(Renkei-kenkyūsha) |
MIZUNO NAOKI 名古屋工業大学, 工学研究科, 教授 (30135404)
YAMADA TAKAYOSHI 岐阜大学, 工学部, 准教授 (00273318)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2015: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Keywords | 制御理論 / 最適制御 / 飛行船 / 4元数 / 追従制御 / 非線形システム / 非ホロノミックシステム / 厳密な線形化 / 制御工学 / 航空宇宙工学 / 実用追従 / ４元数 |
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| Outline of Final Research Achievements |
The aim of this study is to develop practical automatic control systems for a underactuated airship, which is described by a set of nonlinear equations. One of our main results is to present new optimal control systems for the airship based on practical tracking control method. By introducing an allowable tracking error to the airship system, the tracking control problem of the nonlinear system can be reduced to that of a simple linear system. This approach makes the well-known linear control theory applicable in the control design. Therefore, optimal tracking controllers for the airship system are proposed with robustness against disturbance and noise. Some flight simulations and experiments have been performed and the effectiveness of the proposed control systems has been demonstrated.
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