Control Algorithms of the Longitude Motion of the Powered ParagliderReportar como inadecuado

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1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes 2 Institute of Mechanics

Abstract : The design of remotely controlled and autonomous Unmanned Aerial Vehicles \emph{UAVs} is an actual direction in modern aircraft development. A promising aircraft of this type is a powered paraglider \emph{PPG}. In this paper, a new mathematical model is suggested for the paraglider-s longitudinal motion aimed at the study of \emph{PPG} dynamics and the synthesis of its automatic control. \emph{PPG} under consideration is composed of a wing canopy and a load gondola with propelling unit. The \emph{PPG} mechanical model is constructed as the system of two rigid bodies connected by an elastic joint with four degrees of freedom that executes a 2D motion in a vertical plane. The details of \emph{PPG}-s motion characteristics including steady-states regimes and its stability have been studied. A nonlinear control law, based on the partial feedback linearization, has been designed for the thrust of \emph{PPG}. Simulation results are analyzed. Simulation tests show that the internal dynamics are stable near the steady-state flight regime.

Autor: Yannick Aoustin - Martynenko Yuri -



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