| 题名: | Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle |
| 作者: | Li BB(李兵兵) ; Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
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| 作者部门: | 机器人学研究室
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| 通讯作者: | Li BB(李兵兵)
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| 会议名称: | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
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| 会议日期: | June 19-22, 2016
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| 会议地点: | Chengdu, China
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| 会议录: | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
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| 会议录出版者: | IEEE
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| 会议录出版地: | Piscataway, NJ, USA
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| 出版日期: | 2016
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| 页码: | 313-320
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| 收录类别: | EI
; CPCI（ISTP）
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| EI收录号: | 20164302940187
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| WOS记录号: | WOS:000389835200058
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| 产权排序: | 1
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| ISSN号: | 2379-7711
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| ISBN号: | 978-1-5090-2732-3
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| 关键词: | powered parafoil
; UAV
; model simplification
; system identification
; input and output coupled system
; energy-based controller
; controller decoupling
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| 摘要: | Powered Parafoil Unmanned Aerial Vehicle (PPUAV), which is suitable for large-area and long-time surveillance and airdrop missions, is a type of innovative UAV. It consists of parafoil canopy, payload and suspension lines, and has the advantages of simple structure, low cost and high load capacity. However, due to the apparent mass and flexible connection, it is hard to build an accurate model for controller design for PPUAV. Normal PID controller is unsuitable for PPUAV because of the inputs' coupling effects on outputs. This paper presents an applicable method of modeling to capture the main characteristics of PPUAV, and the proposed model is validated by actual flight test. To deal with the coupling effect, a novel control method based on energy is proposed. The method has clear adjustment procedures and is more practical and effective than normal PID controller. The simulation results show its effectiveness on PPUAV. |
| 语种: | 英语
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| Citation statistics: |
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| 内容类型: | 会议论文
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| URI标识: | http://ir.sia.cn/handle/173321/19303
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| Appears in Collections: | 机器人学研究室_会议论文
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| Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle.pdf（316KB） | 会议论文 | -- | 开放获取 | | View
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作者单位: | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
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| Recommended Citation: | |
Li BB,Yang LY,He YQ,et al. Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle[C]. 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle.
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