| 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 |
| 引用统计 | |
| 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. |
| 条目包含的文件 | 下载所有文件 | |||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| Energy-based control（316KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。
修改评论