Modeling and Control of a Small Unmanned Aircraft

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K12134
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 61040:Soft computing-related
• Research Institution: The University of Electro-Communications
• Principal Investigator: Tanaka Kazuo 電気通信大学, 大学院情報理工学研究科, 教授 (00227125)
• 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, 教授 (50633442)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: ファジィ制御

Outline of Final Research Achievements

This report deals with modeling and control of a small unmanned aircraft. First, a nonlinear dynamical model is constructed from the equations of motion of a considered small unmanned aircraft and the aerodynamic characteristics generated by its wings. Furthermore, we develop a new design framework to stabilize the small unmanned aircraft. In addition, a rational polynomial fuzzy controller, which is an extension of the polynomial fuzzy controller, is also proposed, and control system design methods using these controllers are proposed. After verifying the effectiveness of the proposed design methods through simulations, flight experiments are conducted using the actual small unmanned aerial vehicle.

Free Research Field

ファジィ制御

Academic Significance and Societal Importance of the Research Achievements

学術的面では，新たに多項式ファジィ制御器を提案し，空力特性の補償を効果的に実現できることを示したこと，また，多項式ファジィ制御器を拡張した有理多項式ファジィ制御器を合わせて提案し，これらの制御器を用いた制御系設計法の提案も行ったことは意義がある．また，小型無人航空機は空飛ぶロボットとして災害救助など様々な用途に活躍が期待でき，社会的意義も大きい．