著者
西村 怜馬 永海 俊治 矢代 大祐
出版者
一般社団法人 電気学会
雑誌
電気学会誌 (ISSN:13405551)
巻号頁・発行日
vol.128, no.7, pp.439-442, 2008-07-01 (Released:2008-07-01)
参考文献数
2

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著者
西井 勇輝 矢代 大祐 弓場井 一裕 駒田 諭
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌D(産業応用部門誌) (ISSN:09136339)
巻号頁・発行日
vol.142, no.2, pp.76-85, 2022-02-01 (Released:2022-02-01)
参考文献数
15
被引用文献数
1

Contact-force control of propeller-driven systems achieves aerial tasks that require contact motions with objects. Conventional contact-force controllers for propeller-driven systems utilize a contact-force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact-force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact-force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.