Tracking control of parafoil airdrop robot in wind environments

Jin Tao; Minnan Piao; Qinglin Sun; Mingwei Sun; Zengqiang Chen

doi:10.1109/RoMoCo.2017.8003924

Tracking control of parafoil airdrop robot in wind environments

Jin Tao, Minnan Piao, Qinglin Sun^*, Mingwei Sun, Zengqiang Chen

^*Corresponding author for this work

Department of Electrical Engineering and Automation

Nankai University

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

3 Citations (Scopus)

Abstract

Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment. The results demonstrate that the active disturbance rejection controller has better anti-disturbance ability and control accuracy than the traditional PID controller.

Original language	English
Title of host publication	Proceedings of the 11th International Workshop on Robot Motion and Control, RoMoCo 2017
Publisher	IEEE
Pages	269-274
Number of pages	6
ISBN (Electronic)	9781538639269
DOIs	https://doi.org/10.1109/RoMoCo.2017.8003924
Publication status	Published - 7 Aug 2017
MoE publication type	A4 Conference publication
Event	International Workshop on Robot Motion and Control - Wasowo, Poland Duration: 3 Jun 2017 → 5 Jun 2017 Conference number: 11

Workshop

Workshop	International Workshop on Robot Motion and Control
Abbreviated title	RoMoCo
Country/Territory	Poland
City	Wasowo
Period	03/06/2017 → 05/06/2017

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10.1109/RoMoCo.2017.8003924

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title = "Tracking control of parafoil airdrop robot in wind environments",

abstract = "Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment. The results demonstrate that the active disturbance rejection controller has better anti-disturbance ability and control accuracy than the traditional PID controller.",

author = "Jin Tao and Minnan Piao and Qinglin Sun and Mingwei Sun and Zengqiang Chen",

year = "2017",

month = aug,

day = "7",

doi = "10.1109/RoMoCo.2017.8003924",

language = "English",

pages = "269--274",

booktitle = "Proceedings of the 11th International Workshop on Robot Motion and Control, RoMoCo 2017",

publisher = "IEEE",

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note = "International Workshop on Robot Motion and Control, RoMoCo ; Conference date: 03-06-2017 Through 05-06-2017",

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TY - GEN

T1 - Tracking control of parafoil airdrop robot in wind environments

AU - Tao, Jin

AU - Piao, Minnan

AU - Sun, Qinglin

AU - Sun, Mingwei

AU - Chen, Zengqiang

N1 - Conference code: 11

PY - 2017/8/7

Y1 - 2017/8/7

N2 - Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment. The results demonstrate that the active disturbance rejection controller has better anti-disturbance ability and control accuracy than the traditional PID controller.

AB - Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment. The results demonstrate that the active disturbance rejection controller has better anti-disturbance ability and control accuracy than the traditional PID controller.

UR - http://www.scopus.com/inward/record.url?scp=85030180558&partnerID=8YFLogxK

U2 - 10.1109/RoMoCo.2017.8003924

DO - 10.1109/RoMoCo.2017.8003924

M3 - Conference article in proceedings

AN - SCOPUS:85030180558

SP - 269

EP - 274

BT - Proceedings of the 11th International Workshop on Robot Motion and Control, RoMoCo 2017

PB - IEEE

T2 - International Workshop on Robot Motion and Control

Y2 - 3 June 2017 through 5 June 2017

ER -

Tracking control of parafoil airdrop robot in wind environments

Abstract

Workshop

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