| 研究実績の概要 |
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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