Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
This paper presents a practical control approach for complex path tracking of a Powered Paraglider (PPG) and provides flight experimental results. First, a path tracking error system of the PPG is represented using the Serret-Frenet frame. Next, we derive linear matrix inequality (LMI) conditions that stabilize the error system. A guaranteed cost controller considering an input saturation is designed by solving the LMI conditions. The effectiveness of the proposed approach is demonstrated through three different path tracking experiments conducted in Hokkaido.
