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A Waypoint Following Control Design for a Paraglider Model With Aerodynamic Uncertainty
https://uec.repo.nii.ac.jp/records/8970
https://uec.repo.nii.ac.jp/records/8970fa934e19-388e-4a71-b7b3-74184dafe2bb
名前 / ファイル | ライセンス | アクション |
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A Waypoint Following Control Design for a Paraglider Model with Aerodynamic Uncertainty (1.4 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-02-18 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | A Waypoint Following Control Design for a Paraglider Model With Aerodynamic Uncertainty | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Automatic landing | |||||
キーワード | ||||||
言語 | en | |||||
主題 | lateral model | |||||
キーワード | ||||||
言語 | en | |||||
主題 | powered paraglider (PPG) | |||||
キーワード | ||||||
言語 | en | |||||
主題 | robust control | |||||
キーワード | ||||||
言語 | en | |||||
主題 | waypoint following control | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Kazuo
× Tanaka, Kazuo× Tanaka, Motoyasu× Takahashi, Yutoku× Wang, Hua O. |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper presents a waypoint following control design for a powered paraglider (PPG) model. After constructing a dynamic model with six degrees of freedom of the PPG, a dynamical lateral model around a trim equilibrium in the steady-state flight is obtained. Unknown parameters, such as the moment of inertia, the drag coefficient, etc., in the lateral model are optimized by real flight experimental data. The model output with the optimized parameters agrees with the real flight experimental data. Since the aerodynamics-related parameter, i.e., the drag coefficient, might be slightly changed even near the considered trim equilibrium, this paper considers its uncertainty in the constructed lateral model. A nonlinear controller to stabilize the lateral model (with the aerodynamic uncertainty) on a considered operation domain is designed by solving robust controller design conditions expressed in terms of linear matrix inequality. The experimental results including automatic landing demonstrate the effectiveness of the control system design framework, i.e., the model construction and the robust stable control, considering the model uncertainty. | |||||
書誌情報 |
en : IEEE/ASME Transactions on Mechatronics 巻 23, 号 2, p. 518-523, 発行日 2018-04 |
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出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1083-4435 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TMECH.2017.2728678 | |||||
権利 | ||||||
権利情報 | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TMECH.2017.2728678 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |