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Hovering control of vectored thrust aerial vehicles
http://hdl.handle.net/2298/20182
http://hdl.handle.net/2298/201822731d456-82b8-4a7d-9631-0cb1848b3c10
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
ICRA_5509917.pdf (1.3 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2011-07-11 | |||||
| タイトル | ||||||
| タイトル | Hovering control of vectored thrust aerial vehicles | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Kumon, Makoto
× Kumon, Makoto× Cover, Hugh× Katupitiya, Jayantha |
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| 別言語の著者 |
公文, 誠
× 公文, 誠 |
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| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | In this paper, a vectored thrust aerial vehicle(VTAV) that has three ducted fans is considered. Since ducted fans are powerful and effective in providing lift, they are suitable for thrusters of UAVs, but modeling their aerodynamic effects such as ram drag is very difficult. The VTAV has one ducted fan fixed to its body and two ducted fans that can be tilted in order to make rotational moments, which makes the system dynamics even more complicated. This paper focuses on giving a precise dynamical model that includes aerodynamic effects of ducted fans. Then it presents a hovering controller based on the dynamical model developed. Since the horizontal dynamics are under actuated, a switching control approach is introduced to realize a stabilizing controller. Numerical simulations prove the validity of the approach. | |||||
| 書誌情報 |
Proceedings - IEEE International Conference on Robotics and Automation p. 1149-1154, 発行年 2010-07-15 |
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| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 関連識別子 | 10.1109/ROBOT.2010.5509917 | |||||
| 権利 | ||||||
| 権利情報 | (c) 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | |||||
| 情報源(ISSN) | ||||||
| 関連名称 | 10504729 | |||||
| フォーマット | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | application/pdf | |||||
| 形態 | ||||||
| 値 | 1307385 bytes | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| 日本十進分類法 | ||||||
| 主題Scheme | NDC | |||||
| 主題 | 530 | |||||
| 出版者 | ||||||
| 出版者 | Institute of Electrical and Electronics Engineers | |||||
| 資源タイプ | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | 論文(Article) | |||||
| 資源タイプ・ローカル | ||||||
| 値 | 会議発表論文 | |||||
| 資源タイプ・NII | ||||||
| 値 | Journal Article | |||||
| 資源タイプ・DCMI | ||||||
| 値 | text | |||||
| 資源タイプ・ローカル表示コード | ||||||
| 値 | 01 | |||||
| URL | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5509917 | |||||
| コメント | ||||||
| 値 | Robotics and Automation (ICRA), 2010 IEEE International Conference, 3-7 May 2010 | |||||
