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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Nonlinear Model Predictive Flight Path Control for an Unmanned Powered Paraglider


    Contributors:


    Publication date :

    2017-12-15


    Size :

    19 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Electric powered paraglider

    PINTO RYAN EVARISTO | European Patent Office | 2022

    Free access

    A Powered Paraglider

    SONG GIN SEOK | European Patent Office | 2018

    Free access

    Linear Dynamics and PID Flight Control of a Powered Paraglider

    Ochi, Yoshimasa / Kondo, Hiroyuki / Watanabe, Masahito | AIAA | 2009


    AN ELECTRIC POWERED PARAGLIDER

    PINTO RYAN EVARISTO | European Patent Office | 2021

    Free access

    Linear Dynamics and PID Flight Control of a Powered Paraglider

    Ochi, Y. / Kondo, H. / Watanabe, M. et al. | British Library Conference Proceedings | 2009