Flight Control of a Powered Paraglider by MIMO PID Control based on Two-Degree-of-Freedom Integral-type Optimal Servomechanism

The author proposed an elaborate nonlinear model of the dynamics of a powered paraglider with eight degrees of freedom. This paper presents design of a flight control system with a linear model obtained from the nonlinear model. The controller is designed with MIMO PID control based on two-degree-of-freedom integral-type-optimal servomechanism. The design method is so efficient that one can design an effective controller with relatively small efforts, even for a complicated dynamic system such as the powered paraglider. Nonlinear simulation demonstrates the effectiveness of the control system.