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IBUKI TATSUYA
Department Undergraduate School , School of Science and Technology Position Associate Professor |
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| Language | English |
| Publication Date | 2022/10 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | Robust Pose Tracking Control for a Fully-Actuated Hexarotor UAV Based on Gaussian Processes |
| Contribution Type | Co-authored (first author) |
| Journal | SICE Journal of Control, Measurement, and System Integration |
| Journal Type | Another Country |
| Publisher | The Society of Instrument and Control Engineers (SICE) |
| Volume, Issue, Page | 15(2),pp.201-210 |
| Total page number | 10 |
| Authorship | Lead author,Corresponding author |
| Author and coauthor | Tatsuya Ibuki, Hiroto Yoshioka, Mitsuji Sampei |
| Details | 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. |