RIGID BODY MOVING AND ATTITUDE CONTROL METHOD USING PREDICTIVE MODEL

摘要

A method for moving a rigid body and controlling the attitude of the rigid body using a prediction model is provided to perform rapidly the stabilization of posture by precisely interpreting the movement of the rigid body. Current posture, speed, and weight coefficient are set by setting INS(Integrated Navigation System) and GPS(Global Positioning System) data as initial conditions. Acceleration, moving speed, and posture values of a rigid body are obtained. A moving speed, posture, weighted coefficient, and movement distance are calculated using acceleration values. The movement control elements such as propulsive force, flap, and vertical and horizontal stabilizers are controlled based on the moving speed, posture, and weighted coefficient. State values as INS and GPS values changed according to the control result are obtained. Then, the preceding processes are repeatedly executed by setting the state values as an initial condition.