| 研究課題/領域番号 |
22K14283
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| 研究機関 | 東京大学 |
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研究代表者 |
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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| 研究期間 (年度) |
2022-04-01 – 2024-03-31
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| キーワード | multi-rotor / glocal control / robust stability / absolute stability / altitude control / attitude control / disturbance observer / multi-agent system |
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| 研究実績の概要 |
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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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
1: 当初の計画以上に進展している
理由
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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| 今後の研究の推進方策 |
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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