| Full text | |
| Author(s): |
Total Authors: 2
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| Affiliation: | [1] Aeronaut Inst Technol ITA, P Mal Eduardo Gomes 50, BR-12228900 Sao Jose Dos Campos - Brazil
[2] Rio de Janeiro State Univ UERJ, R Sao Francisco Xavier 524, BR-20550900 Rio De Janeiro - Brazil
Total Affiliations: 2
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| Document type: | Journal article |
| Source: | ISA TRANSACTIONS; v. 93, p. 268-279, OCT 2019. |
| Web of Science Citations: | 0 |
| Abstract | |
The present paper is concerned with the dynamic modeling and design of control laws for a small non-rigid multi-rotor airship constituted of an oblate-spheroid helium balloon coupled with an electric-powered hexa-rotor airframe. The vehicle is assumed to operate in windless and low-speed conditions. A six-degree-of-freedom nonlinear dynamic model is derived for it using the Newton-Euler approach and considering, among other efforts, a restoring torque due to the displacement of the balloon's center of buoyancy above the vehicle's center of mass and the added-mass effect resulting from the air-structure interaction. Using the derived model and assuming a time-scale separation between the translational and rotational dynamics, the attitude and position control laws are designed separately from each other. Both laws are formulated using feedback linearization combined with control input saturation within appropriate parallelepipedal sets, which are carefully chosen to respect pre-defined bounds on the control torque, control force and maximum inclination angle. The effect of temperature and pressure fluctuations is taken into account through a parametric probabilistic approach, where Maximum Entropy Principle is used to construct a physically consistent stochastic model and Monte Carlo method is used as the stochastic solver to propagate the uncertainties through the system. Extensive simulation results show the effectiveness of the proposed control system and quantify the uncertainty of its performance over a wide range of local temperature and pressure. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved. (AU) | |
| FAPESP's process: | 17/06877-2 - Probabilistic Robust Control of Balloon-Multicopter Aerial Vehicles |
| Grantee: | Davi Antônio dos Santos |
| Support Opportunities: | Scholarships abroad - Research |