Concept studies of an autonomous GNC system for gliding parachute

Abstract. The paper considers the development and simulation testing of the control algorithms for an autonomous high-glide aerial delivery system, which consists of 650sq.ft rectangular double-skin parafoil and 500lb payload. The paper applies optimal control analysis to the real-time trajectory generation. Resulting guidance and control system includes tracking this reference trajectory using a nonlinear tracking controller. The paper presents the description of the algorithm along with simulation results and ends with guidelines for the further implementation of the developed software aboard the real system.

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“…[13][14][15][16][17][18][19][20][21][22] Most of them were tested in a simulation environment, some in flight test.…”

Section: Introductionmentioning

confidence: 99%

Development of Control Algorithm for the Autonomous Gliding Delivery System

Kaminer

Yakimenko

2003

17th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar

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“…This section describes the basic GNC algorithm used for autonomous landings. The basic algorithm shares many features with state-of-the-art guided parafoils discussed in the literature [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25].…”

Section: Gnc Algorithm For Autonomous Landingmentioning

confidence: 99%

“…The controller assumes the turn rate response is related to the differential brake deflection by the first order linear model specified by Eqs. (15)(16)(17), where τ is the turn rate time constant, s is the control sensitivity, and Δt is the update interval for the controller:…”

Section: Controlmentioning

confidence: 99%

“…In the early 1990s, NASA and the United States Army started programs to develop guided parafoil aircraft, and the guidance, navigation, and control (GNC) software for both programs was developed at the Charles Stark Draper Laboratory, Inc. [6][7][8][9]. The basic flight profile established during these programs is the standard for all current guided parafoil algorithms [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25]. There are three basic phases to a guided airdrop flight: 1) go to the target, 2) loiter, and 3) execute a landing maneuver.…”

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confidence: 99%

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Adaptive Glide Slope Control for Parafoil and Payload Aircraft

Ward

2013

Journal of Guidance, Control, and Dynamics

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“…In the horizontal controller, PID is the most widely used methodology. It has been applied in several actual systems successfully . Although PID controller is widely used for its realizability, however, the control effect and precision are not good enough.…”

Section: Introductionmentioning

confidence: 99%

Altitude control for flexible wing unmanned aerial vehicle based on active disturbance rejection control and feedforward compensation

Sun

Chen

et al. 2019

Intl J Robust & Nonlinear

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Summary For achieving the accurate trajectory tracking of the flexible wing unmanned aerial vehicle in the complicated missions, especially the vertical component, a feedforward compensation unit–based active disturbance rejection control (ADRC) is proposed. In ADRC, the internal dynamics and complicated influence of the total disturbance will be estimated and dynamically compensated by extended state observer (ESO). It puts a very high request on the observation ability of ESO with the unpredictable external disturbance, complex internal coupling influence, and the strong nonlinear characteristic of the proposed system. For this reason, by deeply analyzing the model of this system, the varying attitude influence on the altitude control will be deduced. Then, this influence will be compensated previously by a feedforward compensation unit. Through the previous compensation of the calculable part of the internal dynamics and total disturbance, the burden of ESO can be reduced largely. In this way, it improves the control effect of the ADRC with better observation precision of ESO. After that, based on the hardware‐in‐the‐loop simulation, the effectiveness of the proposed method is verified completely with the complicated flight missions. The robustness of the control effect and observation ability of ESO are also verified by the Monte Carlo simulation. At last, the results of actual flight experiment prove the advancement and practicability of the proposed ADRC method.

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Concept studies of an autonomous GNC system for gliding parachute

Cited by 14 publications

References 2 publications

Development of Control Algorithm for the Autonomous Gliding Delivery System

Development of Control Algorithm for the Autonomous Gliding Delivery System

Adaptive Glide Slope Control for Parafoil and Payload Aircraft

Altitude control for flexible wing unmanned aerial vehicle based on active disturbance rejection control and feedforward compensation

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