Robust output-feedback cascaded tracking controller for spatial motion of anisotropically-actuated vehicles

Abstract The paper presents the description, analysis, and validation of a cascaded trajectory-tracking control system designed for rigid-body vehicles moving in a 3-dimensional task space with non-banked maneuvering. In particular, we consider the anisotropically-actuated vehicles characterized by the presence of some privileged actuation directions and, simultaneously, actuation authority limitations along other directions. By combining the two specific control design methodologies, that is, the Vector-Field-Orientation (VFO) approach in the outer (kinematic-level) loop and the Active-Disturbance-Rejection (ADR) approach in the inner (dynamic-level) loop, we provide the resultant VFO-ADR control system characterized by an intuitive geometrical control strategy and robustness to a wide range of matched disturbances and substantial uncertainties of a vehicle model. To facilitate its practical applicability, the VFO-ADR control law has been designed in a way which requires feedback only from the positional configuration variables of a vehicle body. The results of experimental trials, obtained with the VFO-ADR control law applied to a laboratory-scale in-door airship, reveal its practical usefulness also in the case of underactuated vehicles under some specific motion conditions.

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