DYNAMIC MODELLING, ESTIMATION, AND CONTROL FOR PRECISION POINTING OF AN ATMOSPHERIC BALLOON PLATFORM

In this paper we consider the dynamic modelling, estimation and control of an atmospheric balloon platform. The platform is modelled as a rigid body constrained to move with a three dimensional pendulum. We investigate the dynamics of the system and derive the equations of motion from first principles. A nonlinear estimator that evolves on the special orthogonal group of rigid-body rotations, denoted SO(3), is implemented and used in conjunction with a proportional derivative (PD) compensator to control the yaw angle of the platform. A simulation is conducted, and the results demonstrate successful estimation and yaw control.

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