Synthesis of a Falling Body Controller with Modeling Error of Aerodynamic Force

摘要

The three-dimensional motion of a freely descending body like a parachute-load system has been studied and controlled to investigate possibility of controllable parachutes which have various applications such as precision delivery of rescue goods and trajectory control of reentry vehicles in the atmosphere. The present study is an extension of the previous one with one-degree-of-freedom where linear control can be applied. This model has two-degree-of-freedom motion: swing and spin, which is characterized by coupled, nonlinear dynamics.