動的システムエミュレーション：マルチコプターによる固定翼機の飛行力学再現
Dynamic System Emulation: Fixed Wing Dynamics on a Multicopter
2軸ジンバルを備えたマルチコプターが固定翼機の飛行力学を模擬する制御フレームワークを提案し、動的フィードバック線形化による状態-入力マッピングで高忠実なエミュレーションを実現した。
著者: Abdelhakim Amer, Andriy Sarabakha
分類: eess.SY, cs.RO
原文アブストラクト
This work presents a control framework that enables a multicopter equipped with a two-axis gimbal to emulate the flight dynamics of a fixed-wing aircraft. The goal is to provide an operationally simple platform for training and simulation that avoids the aerodynamic constraints of fixed-wing vehicles, such as minimum airspeed and nonholonomic constraints. A state-input mapping between the two platforms is derived using dynamic feedback linearization. The framework is evaluated on representative fixed-wing manoeuvres. Results show high-fidelity emulation under nominal conditions. While evaluations are conducted in simulation, the approach establishes a practical path toward hardware deployment for pilot training, autonomy research, and controller benchmarking.