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 proceedingConference 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 languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages816-819
Number of pages4
ISBN (Electronic)9784907764487
DOIs
Publication statusPublished - 2015 Sep 30
Externally publishedYes
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: 2015 Jul 282015 Jul 30

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period15/7/2815/7/30

Keywords

  • Differential flatness
  • Flying robot
  • Formation flight
  • Tracking controller

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    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 (pp. 816-819). [7285484] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285484