Linear model of a powered paraglider and observer design
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From analysis of a nonlinear model of a powered paraglider (PPG), it has been found that there exists poor damping of attitude oscillation similar to that of a pendulum due to wind disturbance. Hence, a state feedback control system with an observer of state variables and wind disturbance is necessary to improve the damping characteristics to take a picture of a ground circumstance clearly. This study presents analysis results such as controllability, observability, etc. of a linear model of the PPG, which is linearized from a nonlinear model. Furthermore, an outline of a state feedback system with a Kalman filter designed using the linear model is described.