| 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)
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| Department | 机器人学研究室 |
| Conference Name | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016 |
| Conference Date | June 19-22, 2016 |
| Conference Place | Chengdu, China |
| Source Publication | 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016 |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2016 | |
| Pages | 313-320 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20164302940187 |
| WOS ID | WOS:000389835200058 |
| Contribution Rank | 1 |
| ISSN | 2379-7711 |
| ISBN | 978-1-5090-2732-3 |
| Keyword | Powered Parafoil Uav Model Simplification System Identification Input And Output Coupled System Energy-based Controller Controller Decoupling |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/19303 |
| Collection | 机器人学研究室 |
| Corresponding Author | Li BB(李兵兵) |
| Affiliation | 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 |
| Recommended Citation 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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| File Name/Size | DocType | Version | Access | License | ||
| Energy-based control（316KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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