モーメント外乱オブザーバを併用したクアッドロータの1 軸拘束条件下における姿勢制御

This study proposes a maintaining a quadrotor’s attitude system using a ‘moment disturbance observer’ aimed at enhancing stability. In recent years, quadrotors have become increasingly prevalent in sectors such as agriculture, surveying, logistics, aerial photography, infrastructure inspection, and security. However, with their growing, there have been concerns about potential physical and human harm stemming from accidents. The Ministry of Land, Infrastructure, Transport, and Tourism has reported accidents attributed to challenging maneuvering conditions that have resulted in crashes. This study aims to develop a quadrotor that can maintain a stable attitude during sudden and significant alterations in its orientation. We suggest employing a moment disturbance observer to estimate the necessary moments for stable attitude maintenance. Numerical simulation results show that the proposed method surpasses traditional PID control in terms of attitude stabilization. Furthermore, this method resulted in superior attitude stability in single-axis experiments with a mechanically constrained quadrotor compared to conventional PID control methods.