Passivity‐based control laws for an unmanned powered parachute aircraft
In this paper, the development of passivity‐based control (PBC) algorithms to stabilize an unmanned powered parachute aerial vehicle is presented. The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian...
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| Veröffentlicht in: | Asian journal of control 2021-09, Vol.23 (5), p.2087-2096 |
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| creator | García‐Beltrán, C.D. Miranda‐Araujo, E.M. Guerrero‐Sanchez, M.E. Valencia‐Palomo, G. Hernández‐González, O. Gómez‐Peñate, S. |
| description | In this paper, the development of passivity‐based control (PBC) algorithms to stabilize an unmanned powered parachute aerial vehicle is presented. The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian function of the system and guarantee the parachute aircraft system stabilization. In the first control law a classic PBC strategy is proposed, and in the second, an interconnection and damping assignment‐passivity‐based control (IDA‐PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. The control objective is to reach a desired final position despite the initial launch conditions. Numerical simulations with variation in the parachute mass weight and in the presence of wind are carried out to validate our proposed schemes. |
| doi_str_mv | 10.1002/asjc.2540 |
| format | Article |
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The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian function of the system and guarantee the parachute aircraft system stabilization. In the first control law a classic PBC strategy is proposed, and in the second, an interconnection and damping assignment‐passivity‐based control (IDA‐PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. The control objective is to reach a desired final position despite the initial launch conditions. Numerical simulations with variation in the parachute mass weight and in the presence of wind are carried out to validate our proposed schemes.</description><subject>Aircraft</subject><subject>Algorithms</subject><subject>Control theory</subject><subject>Damping</subject><subject>disturbance</subject><subject>Equations of motion</subject><subject>Hamiltonian functions</subject><subject>IDA‐PBC</subject><subject>parachute aircraft</subject><subject>Parachutes</subject><subject>Passivity</subject><subject>passivity‐based control</subject><subject>Robustness (mathematics)</subject><subject>UAV of flexible structure</subject><subject>Unmanned aerial vehicles</subject><subject>Unmanned aircraft</subject><issn>1561-8625</issn><issn>1934-6093</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNp1kEtOwzAQhi0EEqWw4AaRWLFI60fsJsuq4lFUCSRgbU38EInSONgJVXccgTNyEhzKlsVoRppv5p_5EbokeEYwpnMItZpRnuEjNCEFy1KBC3Ycay5ImgvKT9FZCDXGgrCcT9D6CUKoPqp-__35VUIwOlGu7b1rkgZ2IbHOJ9AmQ7uFto3Nzu2MHzN4UG9DbxKovPJg-3N0YqEJ5uIvT9Hr7c3L6j7dPN6tV8tNqmixwGlJTCaMgEJbrAmnnKqFiJcyzYQFITJWMlVapUuMI1KonCmuY2Sax1csm6Krw97Ou_fBhF7WbvBtlJSUL3LMSdSJ1PWBUt6F4I2Vna-24PeSYDk6JUen5OhUZOcHdlc1Zv8_KJfPD6vfiR_7BGwY</recordid><startdate>202109</startdate><enddate>202109</enddate><creator>García‐Beltrán, C.D.</creator><creator>Miranda‐Araujo, E.M.</creator><creator>Guerrero‐Sanchez, M.E.</creator><creator>Valencia‐Palomo, G.</creator><creator>Hernández‐González, O.</creator><creator>Gómez‐Peñate, S.</creator><general>Wiley Subscription Services, Inc</general><scope>AAYXX</scope><scope>CITATION</scope><scope>JQ2</scope><orcidid>https://orcid.org/0000-0001-5256-6266</orcidid><orcidid>https://orcid.org/0000-0002-3382-8213</orcidid><orcidid>https://orcid.org/0000-0002-0297-1439</orcidid></search><sort><creationdate>202109</creationdate><title>Passivity‐based control laws for an unmanned powered parachute aircraft</title><author>García‐Beltrán, C.D. ; Miranda‐Araujo, E.M. ; Guerrero‐Sanchez, M.E. ; Valencia‐Palomo, G. ; Hernández‐González, O. ; Gómez‐Peñate, S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c2970-b1e46e6a9df0d15252c761933d36fa6643b3cbfcdb00df09c83c5d3c54d5093f3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Aircraft</topic><topic>Algorithms</topic><topic>Control theory</topic><topic>Damping</topic><topic>disturbance</topic><topic>Equations of motion</topic><topic>Hamiltonian functions</topic><topic>IDA‐PBC</topic><topic>parachute aircraft</topic><topic>Parachutes</topic><topic>Passivity</topic><topic>passivity‐based control</topic><topic>Robustness (mathematics)</topic><topic>UAV of flexible structure</topic><topic>Unmanned aerial vehicles</topic><topic>Unmanned aircraft</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>García‐Beltrán, C.D.</creatorcontrib><creatorcontrib>Miranda‐Araujo, E.M.</creatorcontrib><creatorcontrib>Guerrero‐Sanchez, M.E.</creatorcontrib><creatorcontrib>Valencia‐Palomo, G.</creatorcontrib><creatorcontrib>Hernández‐González, O.</creatorcontrib><creatorcontrib>Gómez‐Peñate, S.</creatorcontrib><collection>CrossRef</collection><collection>ProQuest Computer Science Collection</collection><jtitle>Asian journal of control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>García‐Beltrán, C.D.</au><au>Miranda‐Araujo, E.M.</au><au>Guerrero‐Sanchez, M.E.</au><au>Valencia‐Palomo, G.</au><au>Hernández‐González, O.</au><au>Gómez‐Peñate, S.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Passivity‐based control laws for an unmanned powered parachute aircraft</atitle><jtitle>Asian journal of control</jtitle><date>2021-09</date><risdate>2021</risdate><volume>23</volume><issue>5</issue><spage>2087</spage><epage>2096</epage><pages>2087-2096</pages><issn>1561-8625</issn><eissn>1934-6093</eissn><abstract>In this paper, the development of passivity‐based control (PBC) algorithms to stabilize an unmanned powered parachute aerial vehicle is presented. The equations of motion of the system are presented in both Lagrangian and Hamiltonian formalisms. The proposed controllers are based on the Hamiltonian function of the system and guarantee the parachute aircraft system stabilization. In the first control law a classic PBC strategy is proposed, and in the second, an interconnection and damping assignment‐passivity‐based control (IDA‐PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics. The control objective is to reach a desired final position despite the initial launch conditions. Numerical simulations with variation in the parachute mass weight and in the presence of wind are carried out to validate our proposed schemes.</abstract><cop>Hoboken</cop><pub>Wiley Subscription Services, Inc</pub><doi>10.1002/asjc.2540</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0001-5256-6266</orcidid><orcidid>https://orcid.org/0000-0002-3382-8213</orcidid><orcidid>https://orcid.org/0000-0002-0297-1439</orcidid></addata></record> |
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| language | eng |
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| source | Wiley Online Library Journals Frontfile Complete |
| subjects | Aircraft Algorithms Control theory Damping disturbance Equations of motion Hamiltonian functions IDA‐PBC parachute aircraft Parachutes Passivity passivity‐based control Robustness (mathematics) UAV of flexible structure Unmanned aerial vehicles Unmanned aircraft |
| title | Passivity‐based control laws for an unmanned powered parachute aircraft |
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