A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments | |
Li BB(李兵兵)2,3,4; He YQ(何玉庆)3,4; Han JD(韩建达)1,4 | |
刊名 | Chinese Journal of Aeronautics |
2019 | |
卷号 | 32期号:11页码:2466-2479 |
关键词 | Active model Data correlation analysis Model complexity Powered parafoil State estimation Unmanned aerial vehicle (UAV) |
ISSN号 | 1000-9361 |
产权排序 | 1 |
英文摘要 | A 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. |
资助项目 | National Nature Sciences Foundation of China[61503369] ; National Nature Sciences Foundation of China[61528303] ; State Key Laboratory of Robotics ; Chinese National Key Technology RD Program[Y4A12081010] |
WOS关键词 | TRAJECTORY TRACKING ; PREDICTIVE CONTROL ; WIND ; IDENTIFICATION ; DYNAMICS ; SYSTEMS |
WOS研究方向 | Engineering |
语种 | 英语 |
CSCD记录号 | CSCD:6616300 |
WOS记录号 | WOS:000497952000007 |
资助机构 | National Nature Sciences Foundation of China (Nos. 61503369 and 61528303) ; State Key Laboratory of Robotics ; Chinese National Key Technology R&D Program (No. Y4A12081010) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/24715] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | He YQ(何玉庆) |
作者单位 | 1.College of Artificial Intelligence, Nankai University, Tianjin 300350, 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.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 5.The City College, City University of New York, NY 10031, United States |
推荐引用方式 GB/T 7714 | Li BB,He YQ,Han JD. A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments[J]. Chinese Journal of Aeronautics,2019,32(11):2466-2479. |
APA | Li BB,He YQ,&Han JD.(2019).A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments.Chinese Journal of Aeronautics,32(11),2466-2479. |
MLA | Li BB,et al."A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments".Chinese Journal of Aeronautics 32.11(2019):2466-2479. |
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