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http://dx.doi.org/10.12673/jant.2014.18.3.215

Design of Trajectory Following Controller for Parafoil Airdrop System  

Yang, Bin (Department of Electronic Engineering, Changwon National University)
Choi, Sun-Young (Department of Electronic Engineering, Dong-A University)
Lee, Joung-Tae (Department of Electronic Engineering, Changwon National University)
Lim, Dong-Keun (Department of Electronic Engineering, Changwon National University)
Hwang, Chung-Won (Department of Electronic Engineering, Masan University)
Park, Seung-Yub (Department of Electronic Engineering, Changwon National University)
Publication Information
Journal of Advanced Navigation Technology / v.18, no.3, 2014 , pp. 215-222 More about this Journal
Abstract
In this paper, parafoil airdrop system has been designed and analyzed. 6-degrees of freedom (6-DOF) model of the parafoil system is set up. Nonlinear model predictive control (NMPC) and Proportion integration differentiation (PID) methods were separately applied to adjust the flap yaw angle. Compared the results of setting time and overshoot time of yaw angle, it is found that the of yaw angle is more stable by using PID method. Then, trajectory following controller was designed based on the simulation results of trajectory following effects, which was carried out by using MATLAB. The lateral offset error of parafoil trajectory can be eliminated by its lateral deviation control. The later offset deviation reference was obtained by the interpolation of the current planning path. Moreover, using the designed trajectory, the trajectory following system was simulated by adding the wind disturbances. It is found that the simulation result is highly agreed with the designed trajectory, which means that wind disturbances have been eliminated with the change of yaw angle controlled by PID method.
Keywords
Parafoil airdrop system; 6-DOF; Yaw angle; Trajectory following; Wind disturbances;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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