Masayuki Suzuki

Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles

This paper investigates the development of a new guidance algorithm for a formation of unmanned aerial vehicles. Using the new approach of bifurcating potential fields, it is shown that a formation of unmanned aerial vehicles can be successfully controlled such that verifiable autonomous patterns are achieved, with a simple parameter switch allowing for transitions between patterns. The key contribution that this paper presents is in the development of a new bounded bifurcating potential field that avoids saturating the vehicle actuators, which is essential for real or safety-critical applications. To demonstrate this, a guidance and control method is developed, based on a six-degreeof-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.

Three -Dimensional Formation Flying Using Bifurcating Potential Fields

This paper describes the design of a three-dimensional formation flying guidance and control algorithm for a swarm of autonomous Unmanned Aerial Vehicles (UAVs), using the new approach of bifurcating artificial potential fields. We consider a decentralized control methodology that can create verifiable swarming patterns, which guarantee obstacle and vehicle collision avoidance. Based on a steering and repulsive potential field the algorithm supports flight that can transition between different formation patterns by way of a simple parameter change. The algorithm is applied to linear longitudinal and lateral models of a UAV. An experimental system to demonstrate formation flying is also developed to verify the validity of the proposed control system.

Vibration control of flexible structures using a combined H-infinity filter approach

A new approach that combines #00 control with eigenstructure assignment is proposed and applied to the vibration control of flexible structures. As the design requirements of the H^ control problem are given in the frequency domain, it is difficult for HOQ control to attain the requirements of response properties in the time domain. Eigenstructure assignment is one of the approaches that can satisfy the requirements in the time domain. A two-step approach is proposed; that is, as a first step the full state feedback control law is designed to satisfy the good response using eigenstructure assignment, and as the next step, the robust state estimator holding its performance is solved as the H^ filter problem. The proposed approach is applied to the vibration control of flexible structures, and it is demonstrated that the designed control law has good performance and robust stability by the simulation and experiments.

Robust Control of Space Manipulator.

Robotics and automation in space development, such as construction of space structures or servicing of satellites, will be needed in order to reduce the workload of astronauts, and increase the operational efficiency and safety of space missions. In this paper, making use of the sliding mode control method, a design for the robust control system of a space manipulator is presented. A model of the space manipulator which has an end effector for capture of a target floating in space is considered. The effectiveness of the proposed method is demonstrated by the computer simulations and the experiments using a two-dimensional experimental facility which simulates a two-link space manipulator system. Its relative merit is assessed through comparison with other methods.

Dissipative Vibration Control of Flexible Structures Using .MU.-Synthesis.

This paper describes an approach to control the vibration of flexible structures based on the power flow concept. The μ-synthesis is used to design the controller that optimizes the power flow and retains the robustness for the unmodeled dynamics. The power flow control is based on SEA (Statistical Energy Analysis), and it is able to augment the vibration damping by controlling the power flow that flows into the plant from the outside. The plant model for controller synthesis is found using the identification method called transfer function curve fitting. For identified model, the controller that achieves both performance and robustness is designed using μ-synthesis. Designed controller is evaluated by numerical analysis and experiments. As the results, it is shown that the proposed approach can design the controller with good performance and robustness.

Vibration Control of Flexible Structures Using H.INF. Control Combined with Eigenstructure Assignment.

A new method which combines H∞ control with eigenstructure assignment is proposed and applied to the vibration control of flexible structures. One of the features on H∞ control is that the design requirements are given in frequency domain, and H∞ control is useful for application to the flexible structures which strongly require the robust stability. However, it is difficult for H∞ control to attain the requirements of response properties in the time domain. So in this paper, the 2-steps approach is proposed, that is, as a first step the full state feedback control law is designed to satisfy the good response using eigenstructure assignment, and in the next the robust state estimator holding its performance is solved via H∞ filter problem. Proposed method is applied to the vibration control of flexible structures, and it is demonstrated that the designed control law has good performance and robust stability using analysis and experiments.