Parafoil Control Using Payload Weight Shift

Ward, Michael B.; Culpepper, Sean; Costello, Mark

doi:10.2514/1.c032251

Cited by 16 publications

(5 citation statements)

References 26 publications

(30 reference statements)

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“…The achievable turn rate for any PADS has a practical limit, since a steep turn rate could induce spiral divergence. For a vehicle with similar characteristics as the simulated in this study, Ward et al [ 39 , 40 ] report maximum turn rates from 15 deg/s up to 25 deg/s, depending on the flight mode and control scheme. For the case of larger parafoil-payload vehicles, Lingard [ 11 ] reports a maximum constant turn rate of

deg/s for a canopy with 30 m of wingspan.…”

Section: Simulation Resultsmentioning

confidence: 77%

See 1 more Smart Citation

Sensor Fusion Algorithm Using a Model-Based Kalman Filter for the Position and Attitude Estimation of Precision Aerial Delivery Systems

Garcia-Huerta

González-Jiménez

Villalón-Turrubiates

2020

Sensors

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In this research, we focus on the use of Unmanned Aerial Vehicles (UAVs) for the delivery of payloads and navigation towards safe-landing zones, specifically on the modeling of flight dynamics of lightweight vehicles denoted Precision Aerial Delivery Systems (PADSs). While a wide range of nonlinear models has been developed and tested on high-end applications considering various degrees of freedom (DOF), linear models suitable for low-cost applications have not been explored thoroughly. In this study, we propose and compare two linear models, a linearized version of a 6-DOF model specifically developed for micro-lightweight systems, and an alternative model based on a double integrator. Both linear models are implemented with a sensor fusion algorithm using a Kalman filter to estimate the position and attitude of PADSs, and their performance is compared to a nonlinear 6-DOF model. Simulation results demonstrate that both models, when incorporated into a Kalman filter estimation scheme, can determine the flight dynamics of PADSs during smooth flights. While it is validated that the double integrator model can adequately operate under the proposed estimation scheme for up to small acceleration changes, the linearized model proves to be capable of reproducing the nonlinear model characteristics even during moderately steep turns.

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deg/s for a canopy with 30 m of wingspan.…”

Section: Simulation Resultsmentioning

confidence: 77%

Section: Simulation Resultsmentioning

confidence: 96%

Sensor Fusion Algorithm Using a Model-Based Kalman Filter for the Position and Attitude Estimation of Precision Aerial Delivery Systems

Garcia-Huerta

González-Jiménez

Villalón-Turrubiates

2020

Sensors

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“…The values of the model parameters are shown in Table 1. These parameters were obtained from real aerial platforms [5,7].…”

Section: Dynamic Modelmentioning

confidence: 99%

“…An optimal control problem is designed using direct and indirect optimization to minimize the control effort required and also to minimize the terminal distance error from the target. Ward et al [5] study a strategy that achieves both lateral and longitudinal controls, by shifting the center of gravity of the payload with respect to the canopy rigging attachments.…”

Section: Introductionmentioning

confidence: 99%

Passivity‐based control laws for an unmanned powered parachute aircraft

Beltrán

Miranda‐Araujo

Guerrero-Sánchez

et al. 2021

Asian Journal of Control

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In this paper, the development of passivity-based control (PBC) algorithms to stabilize an unmanned powered parachute aerial vehicle is presented. The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian function of the system and guarantee the parachute aircraft system stabilization. In the first control law a classic PBC strategy is proposed, and in the second, an interconnection and damping assignment-passivity-based control (IDA-PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. The control objective is to reach a desired final position despite the initial launch conditions. Numerical simulations with variation in the parachute mass weight and in the presence of wind are carried out to validate our proposed schemes.

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“…The response speed of the parafoil glide ratio to input is slow and it is not enough effective to control glide slope, therefore the longitudinal channel generally is designed as the open loop system for unpowered parafoils. Ward et al [26], [27] proposed the adjustable incidence angle and gravity center combined with the trailing-edge deflection to achieve glide ratio control. Besides, the technology of upper-surface canopy spoilers was proven to be an effective method for longitudinal control [28], [29].…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling and Autonomous Landing for Flexible Parafoil-Vehicle Multibody System

et al. 2023

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In this paper, the autonomous landing of the parafoil used for aerial vehicles is investigated through the numerical approach. The coupled parafoil-vehicle dynamics model is developed based on the multibody method. The transition process from aircraft flight to parafoil glide is designed in a global system framework. To deal with large flexible deformations during the deployment process, the parafoil canopy is approximated as interacting symmetric subparts using the geometric division method. The pseudo-spectral method is employed to generate a reference trajectory for the landing target. As the system dynamics are introduced into constraint conditions, the generated trajectory is beneficial to improve landing precision. In addition, other optimization objectives, including minimal energy consumption and obstacle avoidance, are considered in trajectory planning. The enhanced proportional integral control is designed to follow the reference trajectory. The neural network inversion model is used to reduce the coupling effect between the longitudinal and the directional control channels. There is a coupling effect that the two controls both are implemented through left and right trailing-edge deflections. An adaptive output allocation method is proposed to ensure that the directional control always is effective in particular when one side reaches saturation. Finally, simulations for autonomous landing under different conditions are carried out to validate the integrated system.INDEX TERMS Flexible parafoil model, multi-body system, trajectory optimization, flight control.

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Parafoil Control Using Payload Weight Shift

Cited by 16 publications

References 26 publications

Sensor Fusion Algorithm Using a Model-Based Kalman Filter for the Position and Attitude Estimation of Precision Aerial Delivery Systems

Sensor Fusion Algorithm Using a Model-Based Kalman Filter for the Position and Attitude Estimation of Precision Aerial Delivery Systems

Passivity‐based control laws for an unmanned powered parachute aircraft

Dynamics Modeling and Autonomous Landing for Flexible Parafoil-Vehicle Multibody System

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