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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)
Department机器人学研究室
Conference Name6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
Conference DateJune 19-22, 2016
Conference PlaceChengdu, China
Source Publication6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages313-320
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164302940187
WOS IDWOS:000389835200058
Contribution Rank1
ISSN2379-7711
ISBN978-1-5090-2732-3
KeywordPowered Parafoil Uav Model Simplification System Identification Input And Output Coupled System Energy-based Controller Controller Decoupling
AbstractPowered 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
Identifierhttp://ir.sia.cn/handle/173321/19303
Collection机器人学研究室
Corresponding AuthorLi BB(李兵兵)
Affiliation1.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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