Title :
Linear model of a powered paraglider and observer design
Author :
Watanabe, Masahito ; Ochi, Yoshimasa
Author_Institution :
Dept. of Aerosp. Eng., Nat. Defense Acad., Yokosuka
Abstract :
From analysis of a nonlinear model of a powered paraglider (PPG), it has been found that there exists poor damping of attitude oscillation similar to that of a pendulum due to wind disturbance. Hence, a state feedback control system with an observer of state variables and wind disturbance is necessary to improve the damping characteristics to take a picture of a ground circumstance clearly. This study presents analysis results such as controllability, observability, etc. of a linear model of the PPG, which is linearized from a nonlinear model. Furthermore, an outline of a state feedback system with a Kalman filter designed using the linear model is described.
Keywords :
Kalman filters; attitude control; controllability; damping; linear systems; nonlinear control systems; observers; state feedback; Kalman filter; attitude oscillation; damping characteristics; linear model; nonlinear model; observer design; pendulum; powered paraglider; state feedback control system; wind disturbance; Attitude control; Control systems; Controllability; Damping; Electronic mail; Nonlinear equations; Observability; Payloads; Power system modeling; State feedback; UAV; linear model; observer; parafoil;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655016
