Proceedings of the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
巻, 号, ページ
pp. 281/282
出版年月
2011年5月17日
出版者
和文:
英文:
会議名称
和文:
第55回システム制御情報学会研究発表講演会論文集
英文:
the 55th Annual Conference of the Institute of Systems, Control and Information Engineers
開催地
和文:
大阪
英文:
Osaka
アブストラクト
This paper proposes a nonlinear controller realizing periodic motion to MonoRotor type flying robot having no equilibrium point.The control target is semi-hovering; a motion that passes desired non-equilibrium point at which position and attitude stop periodically. In order to achieve this control objective, we propose discontinuous and time-varying output zeroing function which allows Zero Dynamics to be controlled, showing validity by numerical simulation.
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