パラフォイール型飛行ロボットの特性を考慮した風向/風速推定

抄録

This paper deals with a nonlinear observer design to estimate wind disturbances for a powered paraglider (PPG), which is a kind of unmanned aerial vehicles (UAVs). Since flight control of PPGs is strongly affected by winds, it is important to correctly estimate winds. We construct a kinematic model considering wind disturbance velocity vector and design a nonlinear observer to estimate the wind velocity vector. The simulation results using flight experimental data demonstrate the capabilities of the designed nonlinear observer in providing accurate estimation.