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| HAL : hal-00718238, version 1 |
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| the ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Nantes : France (2012) |
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| Control Algorithms of the Longitude Motion of the Powered Paraglider |
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| Yannick Aoustin 1Martynenko Yuri 2 |
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| (03/07/2012) |
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| The design of remotely controlled and autonomous Unmanned Aerial Vehicles (\emph{UAVs}) is an actual direction in modern aircraft development. A promising aircraft of this type is a powered paraglider (\emph{PPG}). In this paper, a new mathematical model is suggested for the paraglider's longitudinal motion aimed at the study of \emph{PPG} dynamics and the synthesis of its automatic control. \emph{PPG} under consideration is composed of a wing (canopy) and a load (gondola) with propelling unit. The \emph{PPG} mechanical model is constructed as the system of two rigid bodies connected by an elastic joint with four degrees of freedom that executes a 2D motion in a vertical plane. The details of \emph{PPG}'s motion characteristics including steady-states regimes and its stability have been studied. A nonlinear control law, based on the partial feedback linearization, has been designed for the thrust of \emph{PPG}. Simulation results are analyzed. Simulation tests show that the internal dynamics are stable near the steady-state flight regime. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – PRES Université Nantes Angers Le Mans [UNAM] – École Centrale de Nantes – École Nationale Supérieure des Mines - Nantes – Ecole Polytechnique de l'Université de Nantes |
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| 2 : | Institute of Mechanics |
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Moscow Lomonosov State University |
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| Domaine | : | Informatique/Robotique Sciences de l'ingénieur/Automatique / Robotique |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00718238, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00718238 | |
| oai:hal.archives-ouvertes.fr:hal-00718238 | |
| Contributeur : Yannick Aoustin | |
| Soumis le : Lundi 16 Juillet 2012, 14:59:45 | |
| Dernière modification le : Lundi 16 Juillet 2012, 15:03:23 | |
