ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	日本語
発表タイトル	劣駆動型飛翔体実験装置に対する適応予測制御系の設計
会議名	ロボティクス・メカトロニクス講演会2015
学会区分	全国規模の学会
発表形式	ポスター掲示
講演区分	一般
発表者・共同発表者	溝上翔也, 古川浩平, 見浪護, ◎矢納陽, 松野隆幸
発表年月日	2015/05
開催地 （都市, 国名）	京都, 日本
概要	Helicopter has a unique performance such as vertical ascent, decent and hovering. So, it is applied to large field because of that performance. On the other hand, there is a disadvantage that its structure is complex, and it is difficult to stabilize the posture under a windy environment. In the previous research, although we have considered the stabilization of the posture of underactuated flying object experimental device, the control result of the experimental device has been affected by the conducting wire of electrical supply and encoder. Therefore an experimental device is newly manufactured aiming to eliminate the influence of conducting wire by unwiring and wireless communication. And we have explored the control performance for new experimental device by switching the controller gain adaptively based on the predicted value of the posture of underactuated flying object.