Tracking control of parafoil airdrop robot in wind environments

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Researchers

  • Jin Tao

  • Minnan Piao
  • Qinglin Sun
  • Mingwei Sun
  • Zengqiang Chen

Research units

  • Nankai University

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.

Details

Original languageEnglish
Title of host publicationProceedings of the 11th International Workshop on Robot Motion and Control, RoMoCo 2017
Publication statusPublished - 7 Aug 2017
MoE publication typeA4 Article in a conference publication
EventInternational Workshop on Robot Motion and Control - Wasowo, Poland
Duration: 3 Jun 20175 Jun 2017
Conference number: 11

Workshop

WorkshopInternational Workshop on Robot Motion and Control
Abbreviated titleRoMoCo
CountryPoland
CityWasowo
Period03/06/201705/06/2017

ID: 15997530