2023 Fiscal Year Final Research Report
Glocal Motion Control for Multi-rotor Flying Vehicles
| Project/Area Number |
22K14283
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | The University of Tokyo |
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Principal Investigator |
NGUYEN BINH MINH 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 | glocal control / multi-rotor / multi-agent-system / altitude control / attitude control / disturbance observer / loss of effectiveness / hierarchical control |
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| Outline of Final Research Achievements |
This study has been established the background for glocal motion control of multi-rotor flying vehicles (MRFVs). This study shows that to properly design the controller, the MRFV should be modelled as a multi-agent system, in which each propeller physically interacts with each other via the MRFV body. Based on this philosophy, several approaches have been developed with disturbance observer and fault tolerant control. A generalized frequency variable approach was proposed to guarantee the stability of the landing control system. A robust altitude control system was designed with absolute stability analysis considering the nonlinear thrust characteristic. The trade-off between the global performance (attitude control) and local performance (propeller speed control) was clarified based on a nominal model set to be shared between the upper- and lower-layers. A dual-propeller test-bench was developed for not only proposed method validation but also advanced motion control education.
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| Free Research Field |
制御およびシステム工学関連
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| Academic Significance and Societal Importance of the Research Achievements |
This research can be seen as a transdisciplinary study that establishes a bridge between multi-agent control theory and motion control of multi-rotor.
Besides, it contributes a brick to the development of flying vehicle society, international collaboration, and education in Japan.
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