2023 Fiscal Year Annual Research 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 / attitude control / disturbance observer / drone / fault tolerance / multi-agent-system |
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| Outline of Annual Research Achievements |
We proposed a hierarchically decentralized disturbance observer based controller for large-scaled systems. The upper-layer and lower-layer are connected via aggregation and distribution channels. The role-sharing between the global and local controllers is analyzed via a “global/local shared model set,” which should be taken in both layers. Consequently, we setup a procedure that allows the global and local controllers to be designed via standard robust control problems. The complexity of system design does not depend on the number of local agents. The proposed approach is applied to attitude control of the multi-rotor testbench with wind tunnel. Even under strong wind condition, the proposed approach successfully suppressed the disturbances and guaranteed small attitude tracking errors.
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