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Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat
Chen L(陈丽)1,5; Whidborne, James F.2; Dong, Qi3; Duan DP(段登平)4; Liu JG(刘金国)5
Department空间自动化技术研究室
Source PublicationJournal of Aerospace Engineering
ISSN0893-1321
2019
Volume32Issue:4Pages:1-12
Indexed BySCI ; EI
EI Accession number20191306688437
WOS IDWOS:000482166000001
Contribution Rank1
Funding OrganizationNational Science Foundation of China, No. 61733017 ; Foundation of State Key Laboratory of Robotics of China, No. 2018O13 ; Shanghai Pujiang Program, No. 18PJD018
KeywordVectored-thruster aerostat Degraded tracking control Underactuated Virtual reference point
AbstractThe 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.
Language英语
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24476
Collection空间自动化技术研究室
Corresponding AuthorChen L(陈丽)
Affiliation1.School of Air Transportation, Shanghai Univ. of Engineering Science, Shanghai 201620, China
2.Centre for Aeronautics, Cranfield Univ., Bedfordshire, MK43 0AL, United Kingdom
3.Teaching and Research Section, MuDanJiang Medical Univ., Mudanjiang 157400, China
4.School of Aeronautics and Astronautics, Shanghai Jiao Tong Univ., Shanghai 200240, China
5.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Chen L,Whidborne, James F.,Dong, Qi,et al. Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat[J]. Journal of Aerospace Engineering,2019,32(4):1-12.
APA Chen L,Whidborne, James F.,Dong, Qi,Duan DP,&Liu JG.(2019).Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat.Journal of Aerospace Engineering,32(4),1-12.
MLA Chen L,et al."Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat".Journal of Aerospace Engineering 32.4(2019):1-12.
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