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A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments
Li BB(李兵兵)1,2,3; He YQ(何玉庆)1,3; Han JD(韩建达)1,4; Xiao JZ(肖继忠)5
Department机器人学研究室
Source PublicationChinese Journal of Aeronautics
ISSN1000-9361
2019
Pages1-14
Indexed ByEI
EI Accession number20192206994222
Contribution Rank1
Funding OrganizationNational Nature Sciences Foundation of China (Nos. 61503369 and 61528303) ; State Key Laboratory of Robotics ; Chinese National Key Technology R&D Program (No. Y4A12081010)
KeywordActive model Data correlation analysis Model complexity Powered parafoil State estimation Unmanned aerial vehicle (UAV)
AbstractA novel framework is established for accurate modeling of Powered Parafoil Unmanned Aerial Vehicle (PPUAV). The model is developed in the following three steps: obtaining a linear dynamic model, simplifying the model structure, and estimating the model mismatch due to model variance and external disturbance factors. First, a six degree-of-freedom linear model, or the structured model, is obtained through dynamic establishment and linearization. Second, the data correlation analysis is adopted to determine the criterion for proper model complexity and to simplify the structured model. Next, an active model is established, combining the simplified model with the model mismatch estimator. An adapted Kalman filter is utilized for the real-time estimation of states and model mismatch. We finally derive a linear system model while taking into account of model variance and external disturbance. Actual flight tests verify the effectiveness of our active model in different flight scenarios.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24715
Collection机器人学研究室
Corresponding AuthorHe YQ(何玉庆)
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.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
4.College of Artificial Intelligence, Nankai University, Tianjin 300350, China
5.The City College, City University of New York, NY 10031, United States
Recommended Citation
GB/T 7714
Li BB,He YQ,Han JD,et al. A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments[J]. Chinese Journal of Aeronautics,2019:1-14.
APA Li BB,He YQ,Han JD,&Xiao JZ.(2019).A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments.Chinese Journal of Aeronautics,1-14.
MLA Li BB,et al."A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments".Chinese Journal of Aeronautics (2019):1-14.
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