イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2022/10
形態種別	学術雑誌
査読	査読あり
標題	Robust Pose Tracking Control for a Fully-Actuated Hexarotor UAV Based on Gaussian Processes
執筆形態	共著(筆頭者)
掲載誌名	SICE Journal of Control, Measurement, and System Integration
掲載区分	国外
出版社・発行元	The Society of Instrument and Control Engineers (SICE)
巻・号・頁	15(2),pp.201-210
総ページ数	10
担当区分	筆頭著者,責任著者
著者・共著者	Tatsuya Ibuki, Hiroto Yoshioka, Mitsuji Sampei
概要	This paper presents a robust position/attitude tracking control method for a fully-actuated hexarotor unmanned aerial vehicle (UAV) based on Gaussian processes. Multirotor UAVs suffer from modelling errors due to their structure complexity and aerodynamical disturbances whose perfect mathematical formulation is intractable. To handle this issue, this paper incorporates a data-based learning technique, Gaussian process regression, with model-based control.