Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat
Publication: Journal of Aerospace Engineering
Volume 32, Issue 4
Abstract
The problem of horizontal-plane tracking control of an omnidirectional, four vectored-thruster aerostat subjected to actuator failure is considered. The actuator failures result in the aerostat’s becoming underactuated, so that it can affect only surge force and pure yaw moment about the body center. To achieve accurate position control in the horizontal plane, direct position control is used instead of heading control. This mode of control is called degraded tracking control, in contrast to full authority control of the overactuated four vectored-thruster aerostat. This degraded tracking controller uses commanded yaw rate to track lateral position, and yaw moment to eliminate lateral position error; therefore, yaw angle is not directly controlled. To guarantee the stability of the yaw motion, a virtual reference point (VRP) tracking strategy is proposed, in which the VRP is used instead of the body center (BC) in position tracking. The VRP generates a negative compensated force in the surge direction, which makes the side-force and yaw moment have the same sign and thus ensures that the aerostat is in a stable tracking configuration. In addition, the VRP decreases the transmission ratio of commanded yaw rate to commanded lateral velocity, making the aerostat’s yaw motion vary slowly during the transitional phase so that steady position tracking is obtained.
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Acknowledgments
This work is supported by the National Science Foundation of China, No. 61733017, and by the Foundation of State Key Laboratory of Robotics of China, No. 2018O13, and also sponsored by Shanghai Pujiang Program, No. 18PJD018.
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Published In
Journal of Aerospace Engineering
Volume 32 • Issue 4 • July 2019
Copyright
©2019 American Society of Civil Engineers.
History
Received: Jan 29, 2018
Accepted: Oct 30, 2018
Published online: Mar 22, 2019
Published in print: Jul 1, 2019
Discussion open until: Aug 22, 2019
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