This paper presents a system identification, control and guidance framework for a small scale paramotor. The paramotor’s nonlinear state space model is initially introduced. Subsequently, a nonlinear model system identification procedure based on the Trust Region Reflective (TRR) least squares algorithm is used to obtain the model’s coefficients from actual recorded flight data. A Model Predictive Controller (MPC) is then designed for both the lateral and longitudinal control aspects of the paramotor based on the aforementioned model coefficients with simulations carried out to test the validity of the designed control scheme. A Dubins curve based guidance technique is then developed for generating a 2D in-flight trajectory for the paramotor’s autonomous flight navigation. The path planning algorithm is developed and simulated on the nonlinear model to verify its performance.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimal Dubins Path Generation, System Identification and Control of a Paramotor


    Beteiligte:
    Habib, William (Autor:in) / Elsabbagh, Ramy (Autor:in) / El-Badawy, Ayman (Autor:in)


    Erscheinungsdatum :

    2019-09-01


    Format / Umfang :

    1264557 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Unibody paramotor assembly

    WITT SHAWN R / REED GARRETT L | Europäisches Patentamt | 2023

    Freier Zugriff

    Paramotor with contrarotating propellers

    LACAZE ALBERTO DANIEL / MURPHY KARL NICHOLAS / BECKER WILLIAM et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    PARAMOTOR WITH DYNAMIC TORQUE COMPENSATION

    SVEC MIROSLAV | Europäisches Patentamt | 2015

    Freier Zugriff

    Dubins path generation for a fixed wing UAV

    Lugo-Cardenas, Israel / Flores, Gerardo / Salazar, Sergio et al. | IEEE | 2014


    Paramotor con compensación dinámica de par

    SVEC MIROSLAV | Europäisches Patentamt | 2017

    Freier Zugriff