Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat
文献类型：期刊论文
| 作者 | Whidborne, James F.4; Chen L(陈丽)1,5; Liu JG(刘金国)1 ; Duan DP(段登平)2; Dong, Qi3
|
| 刊名 | Journal of Aerospace Engineering
 |
| 出版日期 | 2019 |
| 卷号 | 32期号:4页码:1-12 |
| 关键词 | Vectored-thruster aerostat Degraded tracking control Underactuated Virtual reference point |
| ISSN号 | 0893-1321 |
| 产权排序 | 1 |
| 英文摘要 | 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. |
| WOS关键词 | ADAPTIVE-CONTROL ; SHIPS |
| 资助项目 | National Science Foundation of China[61733017] ; Foundation of State Key Laboratory of Robotics of China[2018O13] ; Shanghai Pujiang Program[18PJD018] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000482166000001 |
| 资助机构 | National Science Foundation of China ; Foundation of State Key Laboratory of Robotics of China ; Shanghai Pujiang Program |
| 源URL | [http://ir.sia.cn/handle/173321/24476]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Chen L(陈丽) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Aeronautics and Astronautics, Shanghai Jiao Tong Univ., Shanghai 200240, China 3.Teaching and Research Section, MuDanJiang Medical Univ., Mudanjiang 157400, China 4.Centre for Aeronautics, Cranfield Univ., Bedfordshire, MK43 0AL, United Kingdom 5.School of Air Transportation, Shanghai Univ. of Engineering Science, Shanghai 201620, China |
| 推荐引用方式 GB/T 7714 | Whidborne, James F.,Chen L,Liu JG,et al. Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat[J]. Journal of Aerospace Engineering,2019,32(4):1-12. |
| APA | Whidborne, James F.,Chen L,Liu JG,Duan DP,&Dong, Qi.(2019).Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat.Journal of Aerospace Engineering,32(4),1-12. |
| MLA | Whidborne, James F.,et al."Degraded Planary Tracking Control of an Omnidirectional Vectored-Thruster Aerostat".Journal of Aerospace Engineering 32.4(2019):1-12. |
入库方式： OAI收割
来源：沈阳自动化研究所
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