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Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle
Li BB(李兵兵); Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码313-320
收录类别EI ; CPCI(ISTP)
EI收录号20164302940187
WOS记录号WOS:000389835200058
产权排序1
ISSN号2379-7711
ISBN号978-1-5090-2732-3
关键词Powered Parafoil Uav Model Simplification System Identification Input And Output Coupled System Energy-based Controller Controller Decoupling
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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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19303
专题机器人学研究室
通讯作者Li BB(李兵兵)
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
推荐引用方式
GB/T 7714
Li BB,Yang LY,He YQ,et al. Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle[C]. Piscataway, NJ, USA:IEEE,2016:313-320.
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