パラフォイール型飛行ロボットの方向舵トリムおよび横風推定のための外乱オブザーバと経路安定化制御器の設計

抄録

This paper presents a nonlinear disturbance observer design for estimating a rudder trim and crosswind, and a nonlinear controller design for compensating the estimated disturbances in path tracking of a powered paraglider. A kinematic model is constructed by considering the rotational motion of our PPG. By converting the kinematic model into two kinds of Takagi-Sugeno fuzzy models, a nonlinear disturbance observer and path tracking controller are designed in terms of minimizing the upper bound of given quadratic performance functions. The simulation result using a detailed dynamics model shows that the nonlinear disturbance observer can estimate the rudder trim and crosswind, and the nonlinear controller for compensating the estimated disturbances can converge the path tracking error to zero.