Practical Model Construction and Stable Control of an Unmanned Aerial Vehicle With a Parafoil-Type Wing
针对伞翼无人机缺乏气动数据的问题，构建了纵向动力学模型并设计稳定控制器，通过实验验证了模型和控制的有效性。
This correspondence paper presents a framework for practical model construction and stable altitude control of an unmanned aerial vehicle with a parafoil-type wing (UAV-PW). To design a stable controller, we first construct a dynamical longitudinal model of the UAV-PW. Since there exist no aerodynamics data of the parafoil shape in our UAV-PW, aerodynamics coefficients balanced at the trimmed equilibrium are employed. The model accuracy is investigated by comparing the model outputs with the real test flight experimental data. Next, stable controller design conditions for the UAV-PW model with uncertainties are derived in terms of linear matrix inequalities (LMIs). By solving the LMI conditions, we design a stable controller that asymptotically stabilizes the UAV-PW model with the uncertainties on a considered operation domain. The experimental results demonstrate the viability of the model construction and the stable altitude control.