小型無人航空機の誘導制御と自律飛行試験 Guidance and Control of a Small Unmanned Aerial Vehicle and Autonomous Flight Experiments
This paper describes the development of a fixed-wing small-size UAV and the design of its flight controllers. The developed UAV's wing span is 0.6m, and gross weight is 0.27kg. In order to ensure robust performances of the longitudinal and lateral-directional motions of the UAV, flight controllers are designed for these motions with μ-synthesis. Numerical simulations show that the designed controllers attain good robust stabilities and performances, and have good tracking performance for command. After an order-reduction and discretization, the designed flight controllers were implemented in the UAV. A flight test was performed, and the ability of the UAV to fly autonomously, passing over waypoints, was demonstrated.
- 日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences
日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences 56(649), 57-64, 2008-02-05