Abstract This paper describes a model preditictive control scheme for the horizontal flight guidance of an unmanned powered paraglider (PPG). These aircraft are characterized by their comparatively high wind-to-airspeed ratio and slow, nonlinear flight dynamics. The proposed control scheme consists of two cascaded loops: The inner loop is the heading controller, which is implemented using conventional feedback control; the outer loop controls the horizontal flight path and is implemented using a model predictive controller. Due to the high wind-to-airspeed ratio, wind needs to be taken into account during prediction. To this end, we adopt a simple and robust wind estimation, based only on inertial velocities and heading information. To solve the computationally demanding nonlinear, constrained optimization problem we use a domain-specific heuristic enabling the implementation on a microcontroller. The control scheme is validated using simulations and flight tests, demonstrating good, reproducible flight path following capabilities.


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    Titel :

    Nonlinear Model Predictive Flight Path Control for an Unmanned Powered Paraglider


    Beteiligte:
    Binz, Fabian (Autor:in) / Hartmann, Philipp (Autor:in) / Moormann, Dieter (Autor:in)


    Erscheinungsdatum :

    15.12.2017


    Format / Umfang :

    19 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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