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Autopilot System for Kiteplane

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6 Author(s)
Kumon, M. ; Dept. of Intelligent Mech. Syst., Kumamoto Univ. ; Udo, Y. ; Michihira, H. ; Nagata, M.
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This paper proposes an autopilot system for a small and light unmanned air vehicle called Kiteplane. The Kiteplane has a large delta-shaped main wing that is easily disturbed by the wind, which was minimized by utilizing trim flight with drift. The proposed control system for autonomous trajectory following with a wind disturbance included fuzzy logic controllers, a speed controller, a wind disturbance attenuation block, and low-level feedback controllers. The system was implemented onboard the aircraft. Experiments were performed to test the performance of the proposed system and the Kiteplane nearly succeeded in following the desired trajectory, under the wind disturbance. Although the path was not followed perfectly, the airplane was able to traverse the waypoints by utilizing a failsafe waypoint updating rule

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:11 ,  Issue: 5 )