Degraded planetary tracking control of an omni-directional vectored-thruster aerostat

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dc.contributor.authorChen, Li
dc.contributor.authorWhidborne, James F.
dc.contributor.authorDong, Qi
dc.contributor.authorDuan, Dengping
dc.contributor.authorLiu, Jinguo
dc.date.accessioned2019-05-16T13:29:30Z
dc.date.available2019-05-16T13:29:30Z
dc.date.issued2018-10-30
dc.description.abstractThe problem of horizontal-plane tracking control of an omni-directional, four vectored-thruster aerostat when subjected to actuator failure is considered. The actuator failures result in the aerostat becoming underactuated, so it can only effect surge force and pure yaw moment about the body centre. To achieve accurate position control in the horizontal plane, direct position control is used instead of heading control. This mode of controller 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, where 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 so ensure that the aerostat is in a stable tracking configuration. Meanwhile the VRP also decreases the transmission ratio of commanded yaw rate to commanded lateral velocity, making the aerostat's yaw motion vary slowly during transitional phase, so steady position tracking is obtained.en_UK
dc.identifier.citationChen L, Whidborne J, Dong Q, Duan D and Liu J., Degraded planetary tracking control of an omni-directional vectored-thruster aerostat, Journal of Aerospace Engineering, Volume 32, Issue 4, Article Number 04019026.en_UK
dc.identifier.issn0893-1321
dc.identifier.urihttps://doi.org/10.1061/(ASCE)AS.1943-5525.0001005
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/14170
dc.language.isoenen_UK
dc.publisherAmerican Society of Civil Engineersen_UK
dc.relation.ispartofseries;04019026
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectvectored-thruster aerostaten_UK
dc.subjectdegraded tracking controlen_UK
dc.subjectunderactuateden_UK
dc.subjectvirtual reference pointen_UK
dc.titleDegraded planetary tracking control of an omni-directional vectored-thruster aerostaten_UK
dc.typeArticleen_UK

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