Obstacle avoidance control for PVTOLs based on a virtual space approach

Tomoaki Kobayashi, Atsushi Ueda, Joe Imae, Guisheng Zhai

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the 'virtual space' approach, we formulate the obstacle avoidance problem as an unconstrained optimal control problem. We design a transform function for making an unconstrained virtual space. The model of the PVTOL aircraft is represented as a descriptor form. Then, we propose a solution to the descriptor form. The effectiveness of our approach is confirmed by numerical experiments.

元の言語English
ホスト出版物のタイトルProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
ページ868-872
ページ数5
DOI
出版物ステータスPublished - 2009 9 21
外部発表Yes
イベント2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
継続期間: 2009 3 262009 3 29

出版物シリーズ

名前Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Conference

Conference2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Japan
Okayama
期間09/3/2609/3/29

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

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