Design, Modeling and Testing of a Cascaded Heading Stabilization Controller for a Cruciform Parachute System

Abstract

The work presented in this thesis pertains to the advancement of an existing novel aerial delivery platform that utilizes a cruciform parachute canopy. The cruciform design represents a compromise between the simplicity and affordability of unguided parachute systems and the high performance and precision of complex, expensive parafoil systems. The improvements made to the platform can be summarized in two main contributions. First, through the use of a systematic controller design methodology and simulation-focused experimental plan, an effective heading stabilization controller can be developed without requiring substantial amounts of free-flight testing. Second, a cascaded control structure is proposed to facilitate enhanced performance in disturbance rejection and setpoint tracking of the parachute heading compared to the existing single-loop PID controller. This approach to controller design permits rapid deployment of cruciform systems of varying type and scale suited to specific operational requirements.