| Presentation | 2014-01-31 Experimental Study of a Trajectory Generation Method of a Multi-rotor Helicopter Using Finite-horizon Optimal Control Tatsuya KONO, Toshimitsu USHIO, Takashi TAKIMOTO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Trajectory generation of helicopters is a fundamental technology required for surveillance and taking a picture at a target position. In this paper, first we explain an overview of a multi-rotor helicopter. Next, we propose a two-level control architecture consisting of a supervisor and an inner loop to achieve an optimal trajectory tracking. The supervisor generates an optimal trajectory, which is given by a target posture angle and height to track the trajectory by using finite-horizon optimal control. The feedback controller in the inner loop determines torques and a force to track the optimal trajectory. Finally, an experiment shows the efficiency of the proposed control architecture. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Multi-rotor helicopter / trajectory generation / optimal control |
| Paper # | MSS2013-73,SS2013-70 |
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| Conference Information | |
| Committee | MSS |
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| Conference Date | 2014/1/23(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Mathematical Systems Science and its applications(MSS) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Experimental Study of a Trajectory Generation Method of a Multi-rotor Helicopter Using Finite-horizon Optimal Control |
| Sub Title (in English) | |
| Keyword(1) | Multi-rotor helicopter |
| Keyword(2) | trajectory generation |
| Keyword(3) | optimal control |
| 1st Author's Name | Tatsuya KONO |
| 1st Author's Affiliation | Graduate School of Engineering Science, Osaka University() |
| 2nd Author's Name | Toshimitsu USHIO |
| 2nd Author's Affiliation | Graduate School of Engineering Science, Osaka University |
| 3rd Author's Name | Takashi TAKIMOTO |
| 3rd Author's Affiliation | Kitakyushu National College of Technology |
| Date | 2014-01-31 |
| Paper # | MSS2013-73,SS2013-70 |
| Volume (vol) | vol.113 |
| Number (no) | 421 |
| Page | pp.pp.- |
| #Pages | 4 |
| Date of Issue | |