Control Algorithms of the Longitude Motion of the Powered Paraglider

Yannick Aoustin (1) , Martynenko Yuri (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 Institute of Mechanics

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.

Domaines: Robotique [cs.RO]; Automatique / Robotique

Yannick Aoustin, Martynenko Yuri. Control Algorithms of the Longitude Motion of the Powered Paraglider. the ASME 2012 11th Biennial Conference On Engineering Systems Design And Analysis, Jul 2012, Nantes, France. pp.1-6. ⟨hal-00718238⟩