Inversion Based Multibody Control - Launch Vehicle with Fuel Slosh

ics under consideration were fully actuated. The dynamics we consider in this paper, are that of a critically underactuated system. The dynamic inversion-based nonlinear control algorithm presented in this paper will account for the coupled dynamics of interconnected rigid bodies. Specifically, the controller regulates engine angle of a vehicle by operating on the engine gimbal torque in the presence of fuel slosh. The controller uses an estimate of the slosh dynamics provided by a reduced-order observer. We compare the performance / stability improvements offered by high-fidelity controllers (those designed for a multi-body vehicle including slosh) over low-fidelity controllers (those designed for a multi-body vehicle but without regard for slosh dynamics). We use the proposed design procedure to simulate a controller that can actively damp slosh using additional thrusts.

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