2022 Fiscal Year Research-status Report
Glocal Motion Control for Multi-rotor Flying Vehicles
| Project/Area Number |
22K14283
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| Research Institution | The University of Tokyo |
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Principal Investigator |
NGUYEN BinhMinh 東京大学, 大学院新領域創成科学研究科, 特任助教 (30940176)
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| Project Period (FY) |
2022-04-01 – 2024-03-31
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| Keywords | multi-rotor / glocal control / robust stability / absolute stability / altitude control / attitude control / disturbance observer / multi-agent system |
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| Outline of Annual Research Achievements |
After one year of conducting research, our main achievements can be summarized as follows. From the theoretical point of view, we showed that the multi-rotor should be modelled and designed as multi-agent systems with both global and local control objectives. A sector-bound nonlinearity approach has been proposed to guarantee the absolute stability of the quadrotor's altitude control system. A generalized frequency approach has been applied to reduce the design burden of the quadrotor's landing speed control system with angular rate stabilization. From the experimental point of view, we have established the dual-rotor test-bench with two propeller actuators. The test-bench will be used to conduct experiment in the next fiscal year, and to teach the students on the motion control issues.
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| Current Status of Research Progress |
Current Status of Research Progress
1: Research has progressed more than it was originally planned.
Reason
During the first year, we have published our results in a journal and several conference papers. We also established the dual-rotor test-bench system. The following factors have contributed to the smooth progress of this study. First, the research has been partially supported by Nagamori foundation. This allowed us to purchase the equipment and devices to build up the hexarotor UAV. Second, this research has been conducted at Fujimoto-lab (Department of Advanced Energy, the University of Tokyo), where we can effectively work with both the electric aircraft and electric vehicle teams. Third, we received helpful advice and academic support from our colleagues around the world, especially from Prof. Hiroshi Fujimoto (the University of Tokyo), Prof. Shinji Hara (Tokyo Institute of Technology).
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| Strategy for Future Research Activity |
In the fiscal year from April 2023 to March 2024, we will continue this research with the following goals. First, we will develop the attitude control system of the dual-rotor test-bench with the hierarchically decentralized configuration. Based on robust control theory and the idea of shared-model-set, the trade-off between the global and local objectives will be analyzed. Second, we will propose and evaluate the fault-detection and fault-tolerance algorithms to improve the attitude control performance of the dual-rotor test-bench. The algorithm will be developed with respect to the multi-sampling sensor measurements and the uncertainty in system parameters. Third, we will develop and test the multi-rotor system which is driven by six motor propeller actuators (hexarotor UAV).
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