Title :
Parafoil trajectory tracking control based on data expansion ADRC
Author :
Haitao, Gao ; Qinglin, Sun ; Xiaofeng, Kang ; Mingwei, Sun ; Zengqiang, Chen
Author_Institution :
Dept. of Autom., Nankai Univ., Tianjin, China
Abstract :
Based on the background of the parafoil and air-drop robot system in disaster environment, six freedom degrees dynamic model of parafoil was established, combined with the lateral track error method, designed a ADRC parafoil trajectory tracking controller; defined the parameters of the measurement controller precision; to improve the trajectory tracking accuracy of the ADRC parafoil trajectory controller, using the method of the sampled data interpolation expansion, improving the accuracy of the controller operation, thereby increasing the accuracy of the parafoil tracking the setting trajectory, and reducing energy loss of the process of overall trajectory tracking. Finally, the simulation examples illustrate effectiveness and feasibility of the method.
Keywords :
aerospace components; aerospace robotics; emergency management; mobile robots; robot dynamics; robust control; trajectory control; 6DoF dynamic model; active disturbance rejection control; air-drop robot system; controller operation; data expansion ADRC; disaster environment; energy loss reduction; lateral track error method; measurement controller precision; parafoil trajectory tracking controller; trajectory tracking accuracy improvement; Accuracy; Aerospace industry; Automation; Educational institutions; Electronic mail; Sun; Trajectory; Active Disturbance Rejection Control (ADRC); Data expansion; Parafoil; Trajectory tracking;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3