Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	2016
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
关键词	powered parafoil UAV model simplification system identification input and output coupled system energy-based controller controller decoupling
页码	313-320
通讯作者	李兵兵
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	2379-7711
ISBN号	978-1-5090-2732-3
WOS记录号	WOS:000389835200058
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19303]
专题	沈阳自动化研究所_机器人学研究室
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]. 见:6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016. Chengdu, China. June 19-22, 2016.