G1000201 Visual Feedback Non-Holonomic Navigation for Side-Force-Plate UAV
Yusuke SUGANO, Kakuji OGAWARA, Hidenori SHINGIN · The Proceedings of Mechanical Engineering Congress Japan · 2015
The study provides the simple method of automatic lateral guidance control. In most of previous studies, control law about automatic guidance control is complex. We were able to simplify guidance control, converting non-holonomic system into holonomic system about lateral movement. The side-force-plate unmanned aerial vehicle (UAV) has capable of turning at low bank angle. The side-force-plate is a wing that is attached nearby the center of gravity. Utilizing characteristic of the side-force-plate, it is able to convert non-holonomic system into holonomic system. Specifically, we enabled UAV to lateral movement using rudder only, stabilizing roll movement by a controller stabilizing attitude. A LQG controller utilized for the sake of stabilizing attitude of UAV. It is able to guidance control utilizing a proportioning controller. In other words, we executed lateral guidance control, feedbacking guidance angular velocity multiplied gain to rudder angle. We verified efficacy of the guidance controller via a flight test.