Flight Control Laboratory

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1 Dept. of Aerospace Engineering Flight Dynamics and Control System Course Flight Control Laboratory Professor: Yoshimasa Ochi Associate Professor: Nobuhiro Yokoyama Flight Control Laboratory conducts researches on design of navigation/guidance/control systems and their applications to aircraft.

2 Research Field 1: Aircraft Dynamics Modeling Modeling of aircraft dynamics, in particular: Formulation of equations of motion for paraglider/hang glider System identifications based on flight test data Modeling of dynamics of a hang glider Analysis on dynamics of a paraglider An example of system identification

3 Research Field 2: Controller Design and its Applications to Flight Control Optimal design method for PID controllers, its extension to gain-scheduled controllers, and their applications to actual flight control systems including the following aircraft: Powered paraglider QTW(Quad Tilt Wing)-UAV A simulation example of flight control for QTW-UAV

4 Research Field 3: Real-Time Optimal Control and its Applications to Flight Safety Theory of real-time optimal control techniques and its applications to: Aircraft collision avoidance Turbulence avoidance/gust alleviation control based on prior information measured by Doppler LIDAR An example of collision avoidance Schematic view of avoidance of turbulent regions

5 Recent Publications (Journal Articles) Yokoyama, N. and Ochi, Y., Path Planning Algorithms for Skid-to-Turn Unmanned Aerial Vehicles, Journal of Guidance, Control, and Dynamics, Vol. 32, No. 5, 2009, pp Kondo, H. and Ochi, Y., I-PD Flight Controller Design based on Integral-Type Optimal Servomechanism, SICE Journal of Control, Measurement, and System Integration, Vol. 3, No. 6, 2010, pp Kondo, H. and Ochi, Y., Plant-order Reduction for I-PD Controller Design and Its Application to Flight Control, Transactions of the Society of Instrument and Control Engineers, Vol. 47, No. 6, 2010, pp (in Japanese). Kondo, H. and Ochi, Y., MIMO PID-Controller Design based on Integral-Type Optimal Servomechanism and its Extension to Model-Following Type, SICE Journal of Control, Measurement, and System Integration, Vol. 4, No. 6, 2011, pp Ochi, Y. and Watanabe, M., Modelling and Simulation of the Dynamics of a Powered Paraglider, Proceedings of the Institute of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Vol. 225, No. 4, 2011, pp Yokoyama, N., Parameter Estimation of Aircraft Dynamics via Unscented Smoother with Expectation-Maximization Algorithm, Journal of Guidance, Control, and Dynamics, Vol. 34, No. 2, 2011, pp Yokoyama, N., Path Generation Algorithm for Turbulence Avoidance Using Real- Time Optimization, Journal of Guidance, Control, and Dynamics, Vol. 36, No. 2, 2013, pp

6 Recent Publications (Conference Papers) Ochi, Y., Kondo, H., and Watanabe, M., Linear Dynamics and PID Flight Control of a Powered Paraglider, Proceedings of AIAA Guidance, Navigation, and Control Conference, 2009, AIAA Paper Sato, M., Yokoyama, N., and Satoh, A., Disturbance Suppression via Robust MPC using Prior Disturbance Data Application to Flight Controller Design for Gust Alleviation, Proceedings of the Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, 2009, pp Ochi, Y. and Kondo, H., PID Controller Design based on Optimal Servo and -Gap Metric, Proceedings of the 2010 American Control Conference, 2010, pp Kondo, H. and Ochi, Y., Plant-Model Reduction for PID Controller Design, Proceedings of the 49th IEEE Conference on Decision and Control, 2010, pp Yokoyama, N., Flight Vehicle System Identification via Nonlinear Smoothing Combined with Unscented Transform, Proceedings of the 18th IFAC Symposium on Automatic Control in Aerospace, 2010, pp Yokoyama, N., Path Generation Algorithm for Turbulence Avoidance Using Real- Time Optimization Technique, Proceedings of AIAA Guidance, Navigation, and Control Conference, 2011, AIAA Paper Ochi, Y. and Yokoyama, N., PID Controller Design for MIMO Systems by Applying Balanced Truncation to Integral-Type Optimal Servomechanism, Proceedings of the IFAC Conference on Advances in PID Control, 2012, pp

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