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インプットシェーピングによるクアッドローター吊り下げ荷物の振子運動抑制制御
http://hdl.handle.net/10748/00010564
http://hdl.handle.net/10748/00010564c9559cb6-ce43-4b42-8002-f268453b2c35
名前 / ファイル | ライセンス | アクション |
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10978-001.pdf (429.1 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-03-14 | |||||
タイトル | ||||||
タイトル | インプットシェーピングによるクアッドローター吊り下げ荷物の振子運動抑制制御 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Quadrotor | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Input Shaping | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Suspended Payload | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | UAV | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Aerial Transportation | |||||
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 |
市川, サラ
× 市川, サラ× 小島, 広久 |
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著者別名 |
Ichikawa, Sarah
× Ichikawa, Sarah× Kojima, Hirohisa |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Recently, expansion of drone applications has been expected, and payload delivery using drones is one such application. In this study, we consider a case in which a quadrotor carries a suspended payload and investigate a control scheme to eliminate oscillation of the payload caused by quadrotor maneuvers. We assume a model that has an offset between the suspension point and the center of mass of the quadrotor and derive the equations of motion. The input shaping technique is applied to the velocity control of the quadrotor to suppress the payload oscillation. Finally, the effectiveness of the input-shaping-based velocity control for payload oscillation suppression is verified through numerical simulations. | |||||
書誌情報 |
日本機械学会関東支部総会講演会講演論文集 巻 24, 発行日 2018 |
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DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1299/jsmekanto.2018.24.GS0613 | |||||
権利 | ||||||
権利情報 | 日本機械学会 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
その他のタイトル | ||||||
その他のタイトル | Oscillation Suppression Control of a Quadrotor-borne Payload Using Input Shaping | |||||
出版者 | ||||||
出版者 | 日本機械学会 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | postprint |