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0_ 0_
_ 0_
0_
_
Jb 0S_ S_SS_0_0_ 0_SS_S_0_ ,
S S_0 0_0
the kinematic equations in terms of inertial position and Euler
angles can be easily written as
978-1-4244-7746-3/10/$26.00 2010 IEEE 4869
= -
z
YX
Z
Iiy. 1. Schcmatic oI paraIoiI and payIoad systcm
(1)
The dynamics of the eM expressed in the body fxed
reference frame is
payload surfaces, band
C
are the canopy's span and chord
length. Aerodynamic coeffcients depend on
a
:
C
Lo +
C
Laa CD CDo +CDaa
2
C
mo
+
C
maa:
Apparent forces and moments act on the system since the
air surrounding the parafoil creates an additional feld of fuid
momentum and energy due to its induced motion. Such effect
was frst introduced in the modeling analysis by Lissaman
and Brown [4], providing analytical formulation to compute
apparent mass MF and moment of inertia !.
Fapp and Mapp are:
Fapp -MFaem - illMFVe (4)
Mapp -IFw-QIFil-VeIMFVe'
Using eq. (3) and eq. (4) in eq. (
2
), one has:
(M+MF)Vem W+FA +Fl -nFve+
-(M+MF)QVem
RgeMFVem + (I +IF)W MA -Q(I +! ) il +
+Rge(FA - nMFVe) + RgbFl - 3eMFVe
(5)
where Rge, Rgb, 3e ae the skew-symmetric matrices for the
vectors Xge, Xgb and Ve, respectively.
(
2
)
. Efect of faps defection on the aerdynamics
Iw -Q/il+MA + Mapp +XgeIFA +
+Xge /Fapp + Xgb /Fl
being M the mass matrix, Q the skew-symmetric matrix of il,
W the weight force, FA and Fl the aerodynamic forces acting
on the canopy and the payload, MA the aerdynamic moment,
Fapp an
b
d Mapp the apparent force and moment, Xge / FA'
Xgb /F
A
and Xge /Fapp the moments generated on the eM
by the aerodynamics and apparent forces, Xge and Xgb the
vectors from the global to the canopy's and payload's eM.
The acceleration aem of the eM is
(3)
Aerodynamic drag acts both on parafoil and payload,
while only the parafoil is affected by lift. The aerodynamics
also generates rolling, pitching and yawing moments:
F
b
A
F
e
/
M
e
A
1 b
-
"
PSb
IlVb
l/C
D
Vb
1
"
pSe lIVe II
1
2
"
pSe Il
V
ell
C
LSacCjc -
C
DCacCjc
-
C
DSjc
-
C
LCacCjc -
C
DSacCjc
C
p
2
2Ve
ll
b p +
C
l_
bc
mq
2
2V
eII
C
q
+
C
mc
P
'
b
2
2
1I
V
eil
where
Ve Vem + il/ Xge and
Vb Vem + il/ Xgb are the
parafoil and payload velocities,
Se
and
Sb
are parafoil and
Beside the angle of attack, the aerodynamic coeffcients
also depend on the fap defection. The two faps are located
laterally on the parafoil's tail. If both are defected of the
same angle, an increase of lift and drag occurs, while the
effciency decreases. If the faps defection is asymmetric, a
difference in drag between the two sides occurs, inducing
rolling and yawing moments. In the lateral-directional dy
namics the roll and yaw terms are coupled. After an initial
transient, a constant turn rate is achieved when the moments
are balanced by damping terms
C
l
i
'
C
p
and
C
P
'
.
Introducing the symmetrical 8s and asymmetrical 8a faps
defection, the control fap width t, the variation of forces
A/ and moments A can be written as:
(6)
being
C
Ls
s
SacCjc -
C
Ds
s
CacCjc
SF_ -
C
Ds
s
Sjc
-
C
Ls
s
SacCjc -
C
Ds
s
CacCjc
SMg
C
P
_ bt
1. Dynamics equations
The dynamics equations of the actuated paraglider are
obtained by combining the free dynamics (5) and the aero-
dynamics variation due to the faps (6):
(7)
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where
D
'
[
M-M, 0
k,M, 7-7,
B-J-J_ !,Y,
'M-M,;'Y,,
M,M,Y,-k,'
J'M,Y,;-
-k
J_ .(1 - 7,;c
j',
|
Y,
[
'_
-
`i,',
]
[Oa Os]
T
.
is always non singular, thus it can be inverted obtaining
[
v
,
]
, eq. (9)
. . th
2
2
are WrItten In e exp lClt lorm as:
-
-
III. THE PATH FOLLOWING ALGORITHM
The path following problem addressed in this paper can
be formulated as follows. The inertial coordinates X, of the
paaglider's CM must reach a linear path in the 7` plane
and follow it with the heading 1 aligned with the path slope
1r
e
f'
starting from a given initial confguration (on or of
the path). Without loss of generality, the linear path can be
considered to be coincident with the 7 axis of the inertial
reference frame. The line following problem then reduces to
the stabilization of the state variables ) and 1 to zero.
By virtue of the above formulation, the path following
problem is not afected by the X,( coordinates nor they
infuence the internal stability of the system. They can
therefore be lef out of the following analysis in which we
show that local stabilization of an appropriate equilibrium
point solves the considered path following problem.
Considering the simplifed model (9) and the kinematic
equations (1), the system motion can be described in terms
of lateral and reduced longitudinal dynamics respectively
associated to the state vaiables {
/-:
[,c, 1,{,p,rV and
{
/o
[,
v
T
,a,qV
We will show in what follows that a stable line following
in the 7` plane can be achieved by setting Os 0 and using
only 6
-
as a control input. The use of a Os - 0 produces, in
fact, unnecessary (w.r.t. the considered problem) height loss,
thus reducing the time of fight before landing.
The reduced model considered for control design and
stability analysis is therefore:
-/o 1/o'
{
/-:{
/o;
with obvious defnition of
1/-:/o
and )/-:
(10)
The unforced equilibrium of system (10) consid
ered in the following is {
,
:
[0, 0, 0, 0, 0, oV and
{
,
-
'
ae;
a -atan
Y,
_
via feedback.
Note that this equilibrium point belongs to the manifold
defned by the dynamics of the state variables {, c, p, l.
which turns out to be structurally stable since its linea
approximation around the equilibrium point {
/o
{
,
and
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[,, c, p, rV = [0,0,0, oV is decoupled fom the longitudi
nal motion and characterized by the eigenvalues
_
,
mgsin(te - ae)
_
-
=
'
Y,,
Y, 4
Iu
_(,'
-
_:`
-
'
+
3!
,{'Y,
8 ,
_
(,'
-
-'
'Y,
8 ,
These ae in the left-half plane since te - ae < 0 and
the aerodynamic coefcients (:,,and , are negative,
being the damping terms of the lateral dynamics.
The projection on the 7` plane of the corresponding
system trajectories are straight lines with equilibrium values
of ,and 1 depending on the initial state of the system.
'
:tn'Jei,cJ tc'i'i,cc',i
To attack the line following problem defned above, we
frst feedback linearize system (10) with respect to the output
(11)
The system relative degree associated to output (11) w.r.t.
the input t
-
is ! being
..
c-
h =.+ t tl -j-'1-)
t
-;
0 0 0
where, according to eq. (10), the dynamics of r has been
written as l =
)
t
-
to make the dependance on the input
t
-
explicit. The input-output feedback linearizing control is
readily found to be:
0 ( .. c- S-l
-
=
-
V)
,
0 0 0
being V the new control input.
(1 !)
To show that, with an appropriate choice of V, this control
law locally asymptotically stabilizes the equilibrium ,e, it is
convenient to put the system in normal form [16]. Consider
therefore the mapping
.,
,1
.
-
=
y+ l
..
.
+
.
.
,
c
p
1
(13)
involving only the state variables characterizing the lateral
dynamics. It is easily verifed that the jacobian matrix
determinant of the mapping U, formed by (13) and
the identity mapping relative to the longitudinal dynamics
variables
,/o-
is =
cos( )
)
. This determinant is never
cos(
zero for admissible values of t
h
e state variables and therefore
U qualifes as a coordinate transformation.
By choosing V = _., -KdZ2, with gains _> 0 and
_> 0, the closed loop dynamics of system (10) in the new
coordinates can be written as
0/-: iT1m
'
/-:/o;
0/o
iTlong
'
/-:/o;
(14)
where
/-:
= [ .. .
Defning
J
T
o
_
/o
=
,/o
_ _n,
'
/-:
,
o;
_
|-:
/-:
(,Tlm,Tlong)=(O,O,SIng)
Tlong
'/-:
,
o;
/o
=
/o
(,Tlm, Tlong)=(O,O,Slong)'
it is easy to verif that the linear approximation of (14)
around the equilibrium (0, 0,
,,
'
/o
0
o
!-:
o
o
o /-:
!o /o
,,
-
Cn,
-0.07
Cn;
0.004
IV. SIMULATION RESULTS
The proposed line tracking algorithm has been validated
through simulations. Two different path following tasks have
been considered: a pure line and a polygonal path. In both
simulations the feedback variable , was weighted by a
positive factor Wy to account for the diferent physical nature
of ,and 1 (linear v.angular quantities), achieving a similar
control authority on both the control variables. The PD gains
are _ = 0.2 and _ = !while the weight is Wy = 0.01.
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In the frst simulation, the reference path is represented
by the 7 axis of the inertial reference frame. We compare
the system's closed-loop behavior when the control input
(12) is applied to either the simplifed model of eq. (9) or
the complete dynamics of eq. (8). This comparison allows
validating the local stability result.
The paraglider starts from inertial coordinates
(0,10, -1500) m, with a velocity of 10 ms and angle
of attack of 8, while the sideslip angle is zero. Euler
angles and angular velocities are initially zeros. The system
reaches the desired reference line with a transient shaped by
the gain values. Figure 2 shows the path in the 7` plane
followed by the paraglider with both models. Despite the
transient oscillating behavior, convergence rate and tracking
accuracy of the two dynamics ae comparable.
}
1000 1500
Fig. 2. XY path
At steady-state, the Euler angles reach the equilibrium val
ues c l 0 and e e
e
, this last being diferent whether
the simplifed or the complete dynamics is considered, as
shown in Fig. 3. Angular velocities converge to zero, as well
as the sideslip angle f, while VT and a converge to their
equilibrium values that depend on the dynamics (simplifed
or complete), see Fig.
4
and 5.
_
1
............
_
Z + J C 1
``
=
`
`
m m
`
m
``
`
m
`
``
Z
i i t t :
_
Z + J C 1
4
_
Z + J C 1
T|me s]
Fig. 3. Euler angles time history
The evolution of the control input Da is plotted in Fig. 6.
During the transient, the control reaches its maximum am-
1
..............
_
Z + J C 1
.
_
Z + J C 1
___
`
`
_
Z + J
T|mes]
C 1
Fig. 4. Angular velocities time history
" @ @
m m m
_
' + J 1
t t t t
_
' + J 1
'
`
' :|mp'|f|eJ
" mpee
!
_
'
+
1
T|me]:]
Fig. 5. Velocity components
plitude, about 8, while it converges to zero as soon as the
system is on the reference line with the heading angle paallel
to the path, as shown in Fig. 3.
2
o'i,-
"
-1 Q
0
----
2
=
0
---- 4'
0
=00
.mcs|
Fig. 6. Asymmetric control
To further evaluate the performance of the proposed
controller, a segmented reference path is considered and
the proposed control law is simulated with the complete
dynamics of eq. (8).
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Figure 7 shows the travelled V. the desired path.
XY FA1H
30
300
20
200
~ 10
z
` 100
0
0
-
-10
0 00 J000 J00 2000 200 3000 300 4000
|0j
Fig. 7. XY path for segmented reference path
The path error converges to zero for each segment in about
50 as the heading angle goes to the reference value, which
is zero when the line is parallel to the 7 axis and is 20
for the slanted lines. Performance is shown in Fig. 8, where
the path error and the heading angle error ae plotted.
20
I
>
l
>
-1
1-?atherrcr1
~2
0 50 00 50 200 250 300 350 400
40
20
\
C
0
=
0
l
>
20
1-eadingerrcr1
-4
0 50 00 50 200 250 300 350 400
Time s]
Fig. 8. Upper plot: path error. Lower plot: heading angle error
The asymmetric control time history is plotted in Fig. 9.
Despite the presence of spikes corresponding to path slope
changes, the control input is always within the admissible
range 90.
V. CONCLUSIONS
A control algorithm for autonomous paragliders has been
proposed for linear path following. A 6-DOF model is used
to describe the dynamics, accounting for weight, aerody
namic forces on payload and parafoil, aerodynamic moments,
efect of apparent forces and moments, moments generated
on the center of mass by the forces exerted at the payload
and parafoil. Local exponential stability of the input-output
feedback linearizing and stabilizing control has been proved
and a stable line following in the 7` plane has been achieved
by using only the lateral directional control input.
Future work will focus on formulating a path following
algorithm for curve paths and using also the longitudinal
directional control input Ds to enhance performance.
0
4
2
0 5
M
-2
-4
-
0 10 10 20 2 30 3 40
1.mc{s[
Fig. 9. Asymmetric control for segmented reference path
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