@article{oai:uec.repo.nii.ac.jp:00008972,
 author = {Tanaka, Motoyasu and Tanaka, Kazuo and Wang, Hua O.},
 issue = {6},
 journal = {IEEE Transactions on Systems, Man, and Cybernetics: Systems},
 month = {Jun},
 note = {This correspondence paper presents a framework for practical model construction and stable altitude control of an unmanned aerial vehicle with a parafoil-type wing (UAV-PW). To design a stable controller, we first construct a dynamical longitudinal model of the UAV-PW. Since there exist no aerodynamics data of the parafoil shape in our UAV-PW, aerodynamics coefficients balanced at the trimmed equilibrium are employed. The model accuracy is investigated by comparing the model outputs with the real test flight experimental data. Next, stable controller design conditions for the UAV-PW model with uncertainties are derived in terms of linear matrix inequalities (LMIs). By solving the LMI conditions, we design a stable controller that asymptotically stabilizes the UAV-PW model with the uncertainties on a considered operation domain. The experimental results demonstrate the viability of the model construction and the stable altitude control.},
 pages = {1291--1297},
 title = {Practical Model Construction and Stable Control of an Unmanned Aerial Vehicle With a Parafoil-Type Wing},
 volume = {49},
 year = {2019}
}