Optimal Control for Terminal Guidance of Autonomous Parafoils
Abstract
This paper deals with the development of guidance, navigation and control algorithms for a prototype of a miniature aerial delivery system capable of high-precision maneuvering and high
touchdown accuracy. High accuracy enables use in precision troop resupply, sensor placement, urban warfare reconnaissance, and other similar operations. Specifically, this paper addresses the terminal
phase, where uncertainties in winds cause most of the problems. The paper develops a six degree-offreedom model to adequately address dynamics and kinematics of the prototype delivery system and
then reduces it to a two degrees-of-freedom model to develop a model predictive control algorithm for reference trajectory tracking during all stages. Reference trajectories are developed in the inertial
coordinate frame associated with the target. The reference trajectory during terminal guidance, just prior to impact, is especially important to the final accuracy of the system. This paper explores an
approach for generating reference trajectories based on the inverse dynamics in the virtual domain. The method results in efficient solution of a two-point boundary-value problem onboard the aerial
delivery system allowing the trajectory to be generated at a high rate, mitigating effects of the unknown winds. This paper provides derivation of the guidance and control algorithms and present
analysis through simulation.
Description
20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Seattle, WA, May 4-7, 2009.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Related items
Showing items related by title, author, creator and subject.
-
Cooperative Control of Multiple Space Manipulators
Yale, G.; Agrawal, B.N. (1994);This paper concerns the cooperative control of multiple manipulators attached to the same base as they reposition a common payload. The theory is easily applied to inertially based problems as well as space based free-floating ... -
Attitude Dynamics/Control of Dual-Body Spacecraft with Variable-Speed Control Moment Gyros
Romano, M.; Agrawal, B. (2004);The dynamics equations of a spacecraft consisting of two bodies mutually rotating around a common gimbal axis are derived by the use of the Newton–Euler approach. One of the bodies contains a cluster of single-gimbal var ... -
Lyapunov Controller for Cooperative Space Manipulators
Yale, G. E.; Agrawal, B.N. (1998);The cooperative control of multiplemanipulatorsattached to the samebase asthey reposition a common payload is discussed. The theory is easily appliedto inertially based problems, as well asspace-based free- oating ...