Differential flatness-based tracking control for fleet of flying robots

Yohei Fujisawa; Satoshi Suzuki; Kojiro Iizuka; Takashi Kawamura

doi:10.1109/SICE.2015.7285484

Differential flatness-based tracking control for fleet of flying robots

Yohei Fujisawa, Satoshi Suzuki, Kojiro Iizuka, Takashi Kawamura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.

Original language	English
Title of host publication	2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	816-819
Number of pages	4
ISBN (Electronic)	9784907764487
DOIs	https://doi.org/10.1109/SICE.2015.7285484
Publication status	Published - 2015 Sep 30
Externally published	Yes
Event	54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: 2015 Jul 28 → 2015 Jul 30

Other

Other	54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Country/Territory	China
City	Hangzhou
Period	15/7/28 → 15/7/30

Keywords

Differential flatness
Flying robot
Formation flight
Tracking controller

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/SICE.2015.7285484

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Differential flatness-based tracking control for fleet of flying robots. / Fujisawa, Yohei; Suzuki, Satoshi; Iizuka, Kojiro; Kawamura, Takashi.

2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 816-819 7285484.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Fujisawa, Y, Suzuki, S, Iizuka, K & Kawamura, T 2015, Differential flatness-based tracking control for fleet of flying robots. in 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015., 7285484, Institute of Electrical and Electronics Engineers Inc., pp. 816-819, 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, Hangzhou, China, 15/7/28. https://doi.org/10.1109/SICE.2015.7285484

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abstract = "Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.",

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author = "Yohei Fujisawa and Satoshi Suzuki and Kojiro Iizuka and Takashi Kawamura",

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AU - Kawamura, Takashi

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N2 - Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.

AB - Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.

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KW - Tracking controller

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Differential flatness-based tracking control for fleet of flying robots

Abstract

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Keywords

ASJC Scopus subject areas

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