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Abstract
The motion of a parafoil is characterized by nonlinear dependence of aerodynamic loads on angle of attack. Nonlinear dynamics and non-rigidity of parafoil-payload system causes difficulty in estimating aerodynamic coefficients of the parafoil with respect to angular rates. The present paper addresses the problem of lateral control of a generic 9 degree of freedom parafoil-payload system under small perturbations. A Lyapunov based dynamic adaptive controller is proposed in order to control such a system with known static coefficients and unknown dynamic coefficients. It is demonstrated numerically that the proposed controller is capable of controlling the system without estimating dynamic coefficients (theoretically or experimentally).
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References
- Nicolaides, J. D., "Flight Test Results of a Powered Parafoil System", Technical Report AFFDL TR-76- 15, pp.31, 1976.
- Wailes, W. K. and Harrington, N. E., "The Guided Parafoil Airborne Delivery System Program", AIAA Paper 95-1538, May, 1995.
- Machin, R. A., Iacomini, C. S., Cerimele, C. J. and Stein, J. M., "Flight Testing the Parachute System for the Space Station Crew Return Vehicle", Journal of Aircraft, Vol.38, No.5, pp.786-799, 2001.
- Slegers, N. and Costello, M., "Aspects of Control for a Parafoil and Payload System", Journal of Guidance, Control, and Dynamics, Vol.26, No.6, pp.898-905, 2003.
- Prakash, O. and Ananthkrishnan, N., "Modelling and Simulation of 9-DOF Parafoil-payload System Flight Dynamics", Atmospheric Flight Mechanics Conference and Exhibit, AIAA, Colorado, August, 2006.
- Gorman, C. M. and Slegers, N. J., "Evaluation of Multibody Parafoil Dynamics Using Distributed Miniature Wireless Sensors", Journal of Aircraft, Vol.49, No.2, pp.546-555, 2012.
- Slegers, N. and Costello, M., "Model Predictive Control of a Parafoil and Payload System", Atmospheric Flight Mechanics Conference and Exhibit, AIAA, Providence, Rhode Island, August, 2004.
- Slegers, N., Beyer, E. and Costello, M., "Use of Variable Incidence Angle for Glide Slope Control of Autonomous Parafoils", Journal of Guidance, Control, and Dynamics, Vol.31, No.3, pp.585-596, 2008.
- Lissaman, P. B. S. and Brown, G. J., "Apparent Mass Effects on Parafoil Dynamics", Technical Report 93-1236, American Institute of Aeronautics and Astronautics, 1993.
- Slotine, J. J. E. and Li, W., "On the Adaptive Control of Robot Manipulators", The International Journal of Robotics Research, Vol. 6, No. 3, pp. 49-59, 1987.
References
Nicolaides, J. D., "Flight Test Results of a Powered Parafoil System", Technical Report AFFDL TR-76- 15, pp.31, 1976.
Wailes, W. K. and Harrington, N. E., "The Guided Parafoil Airborne Delivery System Program", AIAA Paper 95-1538, May, 1995.
Machin, R. A., Iacomini, C. S., Cerimele, C. J. and Stein, J. M., "Flight Testing the Parachute System for the Space Station Crew Return Vehicle", Journal of Aircraft, Vol.38, No.5, pp.786-799, 2001.
Slegers, N. and Costello, M., "Aspects of Control for a Parafoil and Payload System", Journal of Guidance, Control, and Dynamics, Vol.26, No.6, pp.898-905, 2003.
Prakash, O. and Ananthkrishnan, N., "Modelling and Simulation of 9-DOF Parafoil-payload System Flight Dynamics", Atmospheric Flight Mechanics Conference and Exhibit, AIAA, Colorado, August, 2006.
Gorman, C. M. and Slegers, N. J., "Evaluation of Multibody Parafoil Dynamics Using Distributed Miniature Wireless Sensors", Journal of Aircraft, Vol.49, No.2, pp.546-555, 2012.
Slegers, N. and Costello, M., "Model Predictive Control of a Parafoil and Payload System", Atmospheric Flight Mechanics Conference and Exhibit, AIAA, Providence, Rhode Island, August, 2004.
Slegers, N., Beyer, E. and Costello, M., "Use of Variable Incidence Angle for Glide Slope Control of Autonomous Parafoils", Journal of Guidance, Control, and Dynamics, Vol.31, No.3, pp.585-596, 2008.
Lissaman, P. B. S. and Brown, G. J., "Apparent Mass Effects on Parafoil Dynamics", Technical Report 93-1236, American Institute of Aeronautics and Astronautics, 1993.
Slotine, J. J. E. and Li, W., "On the Adaptive Control of Robot Manipulators", The International Journal of Robotics Research, Vol. 6, No. 3, pp. 49-59, 1987.