Title :
Path following for an autonomous paraglider
Author :
Toglia, Chiara ; Vendittelli, Marilena ; Lanari, Leonardo
Author_Institution :
Dipt. di Inf. e Sist., Univ. di Roma “La Sapienza”, Rome, Italy
Abstract :
This paper addresses the path following problem for an autonomous parafoil-payload system. The actuated dynamics of the system is first detailed. Local exponential stability of an input-output feedback linearizing control is proved, achieving a stable line following in the XY plane by using only lateral directional control input.
Keywords :
aircraft control; asymptotic stability; feedback; mobile robots; remotely operated vehicles; vehicle dynamics; autonomous parafoil-payload system; autonomous paraglider; input-output feedback linearizing control; lateral directional control input; local exponential stability; path following problem; system actuated dynamics; Payloads;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717849
