Band-Limited Guidance and Control of Large Parafoils

Carter, David; Singh, Leena; Wholey, Leonard; McConley, Marc W.; Tavan, Steve; Bagdonovich, Brian; Barrows, Tim; Gibson, Chris; George, Sean; Rasmussen, Scott A.

doi:10.2514/6.2009-2981

Cited by 50 publications

(69 citation statements)

References 3 publications

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“…For the sake of comparison let us also consider a somewhat similar algorithm for the terminal guidance, BLG, developed by Draper Laboratory [7]. As opposed to parameterizing the coordinates as in Eq.…”

Section: Band-limited Guidancementioning

confidence: 99%

“…Being unable to optimize a maneuver in real-time, an optimized table-look-up terminal flight path was chosen based on the current conditions while entering a terminal area. This approach was not robust, and lead to the latest development using a direct method of calculus of variations to be able to produce a quasi-optimal trajectory in real time [7].…”

Section: Terminal Guidance Strategiesmentioning

confidence: 99%

“…(6). As stated in [7], integration of the kinematic equations is done in fixed point arithmetic for efficiency. Using the simplex search NelderMead algorithm (MATLAB's fminsearch function), for the optimization allows re-solving Megafly final approach guidance at 1Hz rate (using each previous solution as the new initial guess).…”

Section: Band-limited Guidancementioning

confidence: 99%

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Using direct methods for terminal guidance of autonomous aerial delivery systems

Yakimenko

Slegers

2009

2009 European Control Conference (ECC)

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Abstract-This paper discusses the usage of direct methods of calculus of variations for real-time optimization of a final turninto-the-wind maneuver for autonomous guided parafoil-based delivery systems. It reviews several approaches that are currently being pursued by different developers of such systems and discusses the necessity of usage and applicability of a direct method to optimize the final turn. The proposed approach seeks for an optimal solution within a certain class of parameterized inertial trajectories and further employs inverse dynamics to find the corresponding control. This approach has been successfully used in a variety of real-time applications already and proved to work well in a developed miniature aerial delivery system, Snowflake, as well. The paper presents the results of the most recent real drops and ends with a discussion of the developed algorithm as compared to another one, pursued by Draper Laboratory, where instead of parameterizing a reference trajectory the control itself is being parameterized. The paper ends with conclusions. 1

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Section: Band-limited Guidancementioning

confidence: 99%

Section: Terminal Guidance Strategiesmentioning

confidence: 99%

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Using direct methods for terminal guidance of autonomous aerial delivery systems

Yakimenko

Slegers

2009

2009 European Control Conference (ECC)

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“…In contrast to these specialized platforms, fielded airdrop systems have only a single GPS receiver [12][13][14]. This is desirable to reduce cost and complexity, especially because the GPS receiver does not require any preflight calibration.…”

mentioning

confidence: 99%

“…A number of techniques for deriving particular aspects of the flight dynamic characteristics of a parafoil and payload system using only GPS data have been described [12][13][14]. The restricted amount of sensor information available leads to a very restricted dynamic model of the system, normally a linear 3-DOF representation.…”

mentioning

confidence: 99%

Specialized System Identification for Parafoil and Payload Systems

Ward

Costello

Slegers

2012

Journal of Guidance, Control, and Dynamics

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There are a number of peculiar aspects to parafoil and payload systems that make it difficult to apply conventional system identification procedures used for aerospace systems. Parafoil and payload systems are unique because typically there is very little sensor information available, the sensors that are available are separated from the canopy by a complex network of flexible rigging, the systems are very sensitive to wind and turbulence, the systems exhibit a number of nonlinear behaviors, and the systems exhibit a high degree of variability from flight to flight. The current work describes a robust system identification procedure developed to address the specific difficulties posed by airdrop systems. By employing a two-phase approach that separately considers atmospheric winds estimation and aerodynamic coefficient estimation, a nonlinear, 6-degree-of-freedom dynamic simulation model is generated using only Global Positioning System data from the flight test. The key to this approach is the use of a simplified aerodynamic representation of the canopy, which requires identification of only the steady-state response to control input to completely define the dynamic model. The proposed procedure is demonstrated by creating a simulation model using Global Positioning System data from actual flight tests. To validate the procedure, the dynamic response of the simulation model is then compared to inertial measurement unit data that were not used in any way to develop the simulation model, with excellent results.

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An optimal‐multiphase homing methodology for powered parafoil systems

Sun

Chen

et al. 2020

Optim Control Appl Methods

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SummaryIn order to achieve the precise and agile homing control of the powered parafoil system, an optimal‐multiphase homing methodology is explored in this article. The proposed methodology is composed by a trajectory optimization method based on quantum genetic algorithm and a trajectory tracking method based on an improved active disturbance rejection control (ADRC). First, an improved optimization method combining the optimal and multiphase theory is proposed. The optimized trajectory consists of the simple trajectories, the standard lines and circles, while also satisfying the multiple constraints such as the wind disturbance, terrain avoidance, flared landing, and so on. Then, an improved active disturbance rejection controller is presented. For improving the agility of the system during the path switching and the disturbance rejection ability in windy environment, based on ADRC, a disturbance rejection control algorithm is designed for the horizontal controller of the system. By analyzing the aerodynamic characteristic of the system, the wind disturbance will be compensated previously with a feedforward compensation unit. It will be largely reduce the observation error of the extended state observer, while improving the control effect and the reaction speed. Finally, the hardware‐in‐the‐loop simulation is presented to prove the effectiveness of the proposed methodology. The results show that the optimization method can be achieved successfully and the optimized trajectory can be tracked by the improved ADRC controller precisely and agilely. The landing error is less than 15 m with the proposed homing methodology.

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Band-Limited Guidance and Control of Large Parafoils

Cited by 50 publications

References 3 publications

Using direct methods for terminal guidance of autonomous aerial delivery systems

Using direct methods for terminal guidance of autonomous aerial delivery systems

Specialized System Identification for Parafoil and Payload Systems

An optimal‐multiphase homing methodology for powered parafoil systems

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