{"created":"2023-05-15T08:43:50.957152+00:00","id":8970,"links":{},"metadata":{"_buckets":{"deposit":"587433e5-489f-4621-9668-6d8bacdb5acf"},"_deposit":{"created_by":13,"id":"8970","owners":[13],"pid":{"revision_id":0,"type":"depid","value":"8970"},"status":"published"},"_oai":{"id":"oai:uec.repo.nii.ac.jp:00008970","sets":["6"]},"author_link":["24449","24450","24448","24447"],"item_10001_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2018-04","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"523","bibliographicPageStart":"518","bibliographicVolumeNumber":"23","bibliographic_titles":[{},{"bibliographic_title":"IEEE/ASME Transactions on Mechatronics","bibliographic_titleLang":"en"}]}]},"item_10001_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper presents a waypoint following control design for a powered paraglider (PPG) model. After constructing a dynamic model with six degrees of freedom of the PPG, a dynamical lateral model around a trim equilibrium in the steady-state flight is obtained. Unknown parameters, such as the moment of inertia, the drag coefficient, etc., in the lateral model are optimized by real flight experimental data. The model output with the optimized parameters agrees with the real flight experimental data. Since the aerodynamics-related parameter, i.e., the drag coefficient, might be slightly changed even near the considered trim equilibrium, this paper considers its uncertainty in the constructed lateral model. A nonlinear controller to stabilize the lateral model (with the aerodynamic uncertainty) on a considered operation domain is designed by solving robust controller design conditions expressed in terms of linear matrix inequality. The experimental results including automatic landing demonstrate the effectiveness of the control system design framework, i.e., the model construction and the robust stable control, considering the model uncertainty.","subitem_description_type":"Abstract"}]},"item_10001_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE"}]},"item_10001_relation_14":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1109/TMECH.2017.2728678","subitem_relation_type_select":"DOI"}}]},"item_10001_relation_17":{"attribute_name":"関連サイト","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/TMECH.2017.2728678","subitem_relation_type_select":"DOI"}}]},"item_10001_rights_15":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version."}]},"item_10001_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1083-4435","subitem_source_identifier_type":"ISSN"}]},"item_10001_version_type_20":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Tanaka, Kazuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tanaka, Motoyasu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Takahashi, Yutoku","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Wang, Hua O.","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2019-02-18"}],"displaytype":"detail","filename":"A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty.pdf","filesize":[{"value":"1.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty","url":"https://uec.repo.nii.ac.jp/record/8970/files/A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty.pdf"},"version_id":"fb43ab70-1872-473e-8b44-2427c9cfedfe"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Automatic landing","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"lateral model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"powered paraglider (PPG)","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robust control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"waypoint following control","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"A Waypoint Following Control Design for a Paraglider Model With Aerodynamic Uncertainty","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"A Waypoint Following Control Design for a Paraglider Model With Aerodynamic Uncertainty","subitem_title_language":"en"}]},"item_type_id":"10001","owner":"13","path":["6"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-02-18"},"publish_date":"2019-02-18","publish_status":"0","recid":"8970","relation_version_is_last":true,"title":["A Waypoint Following Control Design for a Paraglider Model With Aerodynamic Uncertainty"],"weko_creator_id":"13","weko_shared_id":-1},"updated":"2023-05-15T10:32:01.193057+00:00"}