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System Identification and Control of PPUAV
Li BB(李兵兵); Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达); Xiao JZ(肖继忠)
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages1093-1098
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873516
WOS IDWOS:000447628700198
Contribution Rank1
ISBN978-1-5386-0489-2
KeywordPowered Parafoil Uav Model Simplification System Identification Feed-forward Control Guidance
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, PPUAV has the problems of apparent mass and flexible connection, which makes it hard to build an accurate model for controller design in practical applications. This paper develops an applicable method of modeling to capture the main characteristics of PPUAV, and the proposed model is validated by actual flight test. An adapted PID controller and a guidance algorithm are also proposed based on the model. The simulations show the effectiveness of the control method for applications of PPUAV.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21356
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆); Xiao JZ(肖继忠)
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
3.The City College, City University of New York, New York, USA
Recommended Citation
GB/T 7714
Li BB,Yang LY,He YQ,et al. System Identification and Control of PPUAV[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:1093-1098.
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