Flatness-Based Control in Successive Loops for Unmanned Aerial Vehicles and Micro-Satellites  

作　　者：Gerasimos Rigatos Masoud Abbaszadeh Krishna Busawon Laurent Dala 

机构地区：[1]Unit of Industrial Automation Industrial Systems Institute 26504,Rion Patras Greece [2]Department of ECSE,Rensselaer Polytechnic Institute 12065,New York,USA [3]Nonlinear Control Group,University of Northumbria Newcastle NE18ST,UK [4]Department of Mechanical Engineering University of Northumbria Newcastle NE18ST,UK

出　　处：《Guidance, Navigation and Control》2023年第4期26-57,共32页制导、导航与控制（英文）

摘　　要：The control problem for the multivariable and nonlinear dynamics of unmanned aerial vehicles and micro-satellites is solved with the use of a flatness-based control approach which is implemented in successive loops.The state-space model of(i)unmanned aerial vehicles and(ii)micro-satellites is separated into two subsystems,which are connected between them in cascading loops.Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input–output linearized flat systems.The state variables of the second subsystem become virtual control inputs for the first subsystem.In turn,exogenous control inputs are applied to the first subsystem.The whole control method is implemented in two successive loops and its global stability properties are also proven through Lyapunov stability analysis.The validity of the control method is confirmed in two case studies:(a)control and trajectories tracking for the autonomous octocopter,(ii)control of the attitude dynamics of micro-satellites.

关 键 词：Autonomous octocopter attitude dynamics of micro-satellites multivariable control differential flatness properties flatness-based control in successive loops global stability Lyapunov analysis 

分 类 号：V279[航空宇航科学与技术—飞行器设计]