Bilateral Teleoperation of Spherical Multi-rotor Helicopter

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K13929
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Mie University
• Principal Investigator: Yashiro Daisuke 三重大学, 工学研究科, 助教 (60607323)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 動力学 / 運動学 / 制御理論 / メカトロニクス / ロボティクス / 制御システム / 自動制御 / 電気機器

Outline of Final Research Achievements

Following knowledge related to bilateral control of a propeller-driven system is obtained: 1) Because dynamics of a propeller-driven system depends on a distance from a ground, a gain-scheduling controller which utilizes a model of ground effect is useful. 2) Feedback control of a propeller's angle velocity is effective to control an amplitude of a propeller's thrust force. 3) Feedback control of a tilt angle of a propeller's rotating shaft is effective to control a direction of a propeller's thrust force.

Free Research Field

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