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Design of optimal control systems of an airship with robustness against disturbance and noise based on practical tracking control method and outdoor flight experiments

Research Project

Project/Area Number 25420435
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Control engineering/System engineering
Research InstitutionNagoya Institute of Technology

Principal Investigator

Yamada Manabu  名古屋工業大学, 工学(系)研究科(研究院), 教授 (40242903)

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)
Project Period (FY) 2013-04-01 – 2016-03-31
Project Status Completed (Fiscal Year 2015)
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)
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
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.

Report

(4 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Research-status Report
  • 2013 Research-status Report
  • Research Products

    (29 results)

All 2016 2015 2014 2013 Other

All Journal Article (8 results) (of which Peer Reviewed: 8 results,  Open Access: 2 results,  Acknowledgement Compliant: 1 results) Presentation (15 results) (of which Invited: 1 results) Book (1 results) Remarks (5 results)

  • [Journal Article] Adaptive Tracking Control of Quad-Rotor Helicopter in Quaternion Based on Iinput-Output Linearization with Online Estimation of Inertia Moment2015

    • Author(s)
      Y.Kutuna、M.Ando and M.Yamada
    • Journal Title

      International Journal of Advanced Mechatronics Systems

      Volume: 6 Issue: 5 Pages: 237-246

    • DOI

      10.1504/ijamechs.2015.072827

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Tracking Control of Quad-rotor Helicopters Suspended a Power Supply Cable with On-line Estimation of Disturbances2015

    • Author(s)
      H.Hayakawa, S. Obata and M.Yamada
    • Journal Title

      Proceedings of IEEE International Conference on Advance Mechatronics Systems

      Volume: 1 Pages: 423-428

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed
  • [Journal Article] All-round two-wheeled quadrotor helicopters with protect-frames for air-land-sea vehicle (controller design and automatic charging equipment)2015

    • Author(s)
      Nana Takahashi, Shuhei Yamashita, Yurina Sato, Yuta Kutsuna, Manabu Yamada
    • Journal Title

      Advanced Robotics

      Volume: 29 Issue: 1 Pages: 69-87

    • DOI

      10.1080/01691864.2014.991754

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Adaptive Position Control of Quad-Rotor Helicopter in Quaternion Based on Input-Output Linearization2014

    • Author(s)
      Yuta Kutsuna, Makoto Ando and Manabu Yamada
    • Journal Title

      Proceedings of the 2014 International Conference on Advanced Mechatronic Systems

      Volume: 1 Pages: 243-248

    • Related Report
      2014 Research-status Report
    • Peer Reviewed
  • [Journal Article] 入出力線形化に基づくクアッドロータヘリコプタの適応H∞追従制御2014

    • Author(s)
      森 啓多、堀田 克也、山田 学
    • Journal Title

      計測自動制御学会論文集

      Volume: 50 Pages: 784-791

    • NAID

      130004714150

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] バックステッピング法に基づく4 ロータ小型ヘリコプタの適応追従制御2014

    • Author(s)
      堀田克也、山田学、大羽達志
    • Journal Title

      計測自動制御学会論文集

      Volume: 50 Pages: 177-184

    • NAID

      130004549772

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Journal Article] Exponential stabilization of quad-rotor helicopter based on exact linearization and disturbance rejection with on-line estimation of disturbances2013

    • Author(s)
      Makoto Ando, Kazuki Oguchi and Manabu Yamada
    • Journal Title

      Proceedings of SICE Annual Conference 2013

      Volume: 1 Pages: 1180-1185

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Journal Article] Sampled-data control of four-rotor mini quadrotor with on-line estimation of translational velocities2013

    • Author(s)
      Hiroki Hiramatsu and Manabu Yamada
    • Journal Title

      Proceedings of SICE Annual Conference 2013

      Volume: 1 Pages: 1186-1191

    • Related Report
      2013 Research-status Report
    • Peer Reviewed
  • [Presentation] 4ロータ小型ヘリコプタの外乱推定器に基づく位置制御2016

    • Author(s)
      早川、加藤、山田学
    • Organizer
      第3回計測自動制御学会制御部門マルチシンポジウム (南山大学)
    • Place of Presentation
      南山大学
    • Year and Date
      2016-03-07
    • Related Report
      2015 Annual Research Report
  • [Presentation] サンプル値制御を用いた二輪車両型移動ロボットの追従制御2015

    • Author(s)
      奥田 哲也,大羽 達志,山田 学
    • Organizer
      第58回自動制御連合講演会
    • Place of Presentation
      神戸大学
    • Year and Date
      2015-11-14
    • Related Report
      2015 Annual Research Report
  • [Presentation] 目標経路を考慮した四輪車両型移動ロボットの適応実用追従制御2015

    • Author(s)
      矢田 凌佑,井美 拓也,山田 学,柿並 俊明,内藤 剛,加藤 浩明
    • Organizer
      第14回運動と振動の制御シンポジウム
    • Place of Presentation
      栃木県総合文化センター
    • Year and Date
      2015-06-22
    • Related Report
      2015 Annual Research Report
  • [Presentation] 斜面走行時における2輪走行型飛行ロボットの適応制御2015

    • Author(s)
      井藤,朽名,山田 学
    • Organizer
      第14回「運動と振動の制御」シンポジウム
    • Place of Presentation
      栃木県総合文化センター
    • Year and Date
      2015-06-22
    • Related Report
      2015 Annual Research Report
  • [Presentation] ケーブル給電式4ロータ小型ヘリコプタの外乱推定器に基づく位置制御2015

    • Author(s)
      小幡翔吾、早川勇望、山田学
    • Organizer
      第二回計測自動制御学会制御部門マルチシンポジウム
    • Place of Presentation
      東京電機大学
    • Year and Date
      2015-03-04 – 2015-03-07
    • Related Report
      2014 Research-status Report
  • [Presentation] 地上走行時における2輪型4ロータヘリコプタの適応実用追従制御2015

    • Author(s)
      朽名佑太、山下修平、井藤光博、山田学
    • Organizer
      第二回計測自動制御学会制御部門マルチシンポジウム
    • Place of Presentation
      東京電機大学
    • Year and Date
      2015-03-04 – 2015-03-07
    • Related Report
      2014 Research-status Report
  • [Presentation] フィールドロボティクス -空中ロボット最前線-2014

    • Author(s)
      山田学
    • Organizer
      日本機械学会ロボティクス・メカトロニクス部門 東海地区特別講演会
    • Place of Presentation
      愛知工業大学
    • Year and Date
      2014-11-17
    • Related Report
      2014 Research-status Report
    • Invited
  • [Presentation] 飛行船の適応実用追従制御 -目標軌道の曲率に基づいた手法-2014

    • Author(s)
      平松大輝、山田学
    • Organizer
      第57回自動制御連合講演会
    • Place of Presentation
      群馬伊香保 ホテル天坊
    • Year and Date
      2014-11-10 – 2014-11-12
    • Related Report
      2014 Research-status Report
  • [Presentation] 目標経路を考慮した二輪車両型移動ロボットの適応実用追従制御2014

    • Author(s)
      岩澤和磨、井美拓也、山田学、柿並俊明、内藤剛、加藤浩明
    • Organizer
      第57回自動制御連合講演会
    • Place of Presentation
      群馬伊香保 ホテル天坊
    • Year and Date
      2014-11-10 – 2014-11-12
    • Related Report
      2014 Research-status Report
  • [Presentation] 目標軌跡の曲率を考慮した車両型移動ロボットの適応実用追従制御2014

    • Author(s)
      井美拓也、岩澤和磨、山田学
    • Organizer
      計測自動制御学会第一回マルチシンポジウム
    • Place of Presentation
      電気通信大学
    • Related Report
      2013 Research-status Report
  • [Presentation] 時変の許容誤差を持つ車両型移動ロボットの実用追従制御2014

    • Author(s)
      岩澤和磨、井美拓也、山田学
    • Organizer
      計測自動制御学会第一回マルチシンポジウム
    • Place of Presentation
      電気通信大学
    • Related Report
      2013 Research-status Report
  • [Presentation] 3次元空間移動ロボットの適応実用追従制御2013

    • Author(s)
      江口公規、山田学
    • Organizer
      日本機械学会第13回「運動と振動の制御」シンポジウム
    • Place of Presentation
      九州産業大学
    • Related Report
      2013 Research-status Report
  • [Presentation] 車両型移動ロボットの適応実用追従制御2013

    • Author(s)
      荒川悠太、山田学
    • Organizer
      第56回自動制御連合講演会
    • Place of Presentation
      新潟大学工学部
    • Related Report
      2013 Research-status Report
  • [Presentation] 入出力線形化に基づくクアッドロータヘリコプタの適応位置制御2013

    • Author(s)
      森啓多、山田学
    • Organizer
      第56回自動制御連合講演会
    • Place of Presentation
      新潟大学工学部
    • Related Report
      2013 Research-status Report
  • [Presentation] 厳密な線形化手法に基づく4ロータ小型ヘリコプタの適応追従制御2013

    • Author(s)
      山下修平、堀田克也、森啓多、山田学
    • Organizer
      日本機械学会第13回「運動と振動の制御」シンポジウム
    • Place of Presentation
      九州産業大学
    • Related Report
      2013 Research-status Report
  • [Book] 飛躍するドローン -マルチ回転翼型無人飛行機の開発と期待される応用研究2016

    • Author(s)
      山田 学、野波健蔵 他
    • Total Pages
      341
    • Publisher
      ニッケイ印刷出版
    • Related Report
      2015 Annual Research Report
  • [Remarks] 自動充電式無人飛行ロボット「忍者UAV」

    • URL

      http://youtu.be/5AsIB8A1VDI

    • Related Report
      2015 Annual Research Report
  • [Remarks] Automatic Rechargeable NINJA UAV

    • URL

      https://www.youtube.com/watch?v=5AsIB8A1VDI

    • Related Report
      2014 Research-status Report
  • [Remarks] 機械制御研究室

    • URL

      http://mcontrol.web.nitech.ac.jp/yamam/

    • Related Report
      2014 Research-status Report
  • [Remarks] Automatic Rechargeable NINJA UAV

    • URL

      http://youtu.be/5AsIB8A1VDI

    • Related Report
      2013 Research-status Report
  • [Remarks] 機械制御研究室

    • URL

      http://mcontrol.web.nitech.ac.jp/yamam/

    • Related Report
      2013 Research-status Report

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Published: 2014-07-25   Modified: 2019-07-29  

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