Desenvolvimento de um sistema de controle e guiamento para entrega por paraquedas

Abstract

The aim of this work is to develop control and guidance for Precision Aerial Delivery Systems (PADS). To this end, a dynamic model with six degrees of freedom is developed, and based on its linearization, a state-feedback controller is designed using the Linear Quadratic Regulator (LQR) methodology. In addition, a Go-to-Target heuristic is employed to determine the direction that will lead the parachute to the desired target. Thus, the control system performs lateral and longitudinal control of the parachute in order to follow the orientation defined by the heuristic. The influence of the controller parameters on system performance is also analyzed, as well as its behavior under different operating conditions, including the presence and absence of wind. The simulation results demonstrate that the proposed strategy is capable of autonomously guiding the parachute to the vicinity of the desired impact point, offering satisfactory performance combined with simplicity of implementation. However, the approach has limitations related to the heuristic employed, as it is not capable of landing exactly on the target, since it does not constitute a position controller per se. Thus, the development of more sophisticated control strategies is identified as a possibility for future work.