Modeling and practical fixed-time attitude tracking control of a paraglider recovery system

Yiming Guo; Jianguo Yan; Cihang Wu; Bing Xiao

doi:10.1016/j.isatra.2021.11.014

Modeling and practical fixed-time attitude tracking control of a paraglider recovery system

ISA Trans. 2022 Sep;128(Pt B):391-401. doi: 10.1016/j.isatra.2021.11.014. Epub 2021 Nov 25.

Authors

Yiming Guo¹, Jianguo Yan¹, Cihang Wu¹, Bing Xiao²

Affiliations

¹ School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.
² School of Automation, Northwestern Polytechnical University, Xi'an 710072, China. Electronic address: xiaobing@nwpu.edu.cn.

PMID: 34865843
DOI: 10.1016/j.isatra.2021.11.014

Abstract

The mathematical modeling and the control problem of the paraglider recovery system (PRS) are investigated in this paper. A 9-degree-of-freedom dynamic model describing the paraglider recovery control system is modeled including the inside relative rotation, the apparent mass, and the payload's time-varying inertia. On the basis of the attitude tracking error system, a novel practical fixed-time attitude tracking control approach is then proposed. The attitude tracking error is governed to converge into the small regions of the origin with a fixed-time convergence rate. Moreover, this rate is independent of any initial states. Simulation results are finally presented to illustrate the PRS performance obtained from the proposed control scheme.

Keywords: Attitude tracking; Dynamical modeling; Fixed-time control; Paraglider recovery system.