Nonlinear Proportional-Derivative Control Incorporating Closed-Loop Control Allocation for Spacecraft

Abstract This paper presents a robust method for controlling the terrestrial motion of a bi-modal multirotor vehicle that can roll and fly. Factors influencing the mobility and controllability of the vehicle are explored and compared to strictly flying multirotor vehicles; the differences motivate novel control and control allocation strategies which leverage the non-standard configuration of the bi-modal design. A fifth-order dynamic model of the vehicle subject to kinematic rolling constraints is the basis for a nonlinear, multi-input-multi-output, sliding mode controller. Constrained optimization techniques are used to develop a novel control allocation strategy which minimizes power consumption while rolling. Simulations of the vehicle under closed-loop control are presented. A functional hardware embodiment of the vehicle is constructed onto which the controllers and control allocation algorithm are deployed. Experimental data of the vehicle under closed-loop control demonstrate good performance and robustness to parameter uncertainty. Data collected also demonstrate that the control allocation algorithm correctly determines a thrust-minimizing solution in real-time.

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A New Closed-loop Control Allocation Method with Application to Direct Force Control

International Journal of Control Automation and Systems ◽

10.1007/s12555-017-0294-9 ◽

2018 ◽

Vol 16 (3) ◽

pp. 1355-1366 ◽

Cited By ~ 4

Author(s):

Wendong Gai ◽

Jie Liu ◽

Jing Zhang ◽

Yuxia Li

Keyword(s):

Force Control ◽

Closed Loop ◽

Control Allocation ◽

Closed Loop Control ◽

Loop Control ◽

Allocation Method

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A closed-loop control allocation method for satellite precision pointing

IEEE 10th International Conference on Industrial Informatics ◽

10.1109/indin.2012.6301164 ◽

2012 ◽

Cited By ~ 2

Author(s):

Yan Zhang ◽

Zongji Chen

Keyword(s):

Closed Loop ◽

Control Allocation ◽

Closed Loop Control ◽

Loop Control ◽

Allocation Method

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The Impact of Visual Feedback Type on the Mastery of Visuo-Motor Transformations

Zeitschrift für Psychologie ◽

10.1027/2151-2604/a000084 ◽

2012 ◽

Vol 220 (1) ◽

pp. 3-9 ◽

Cited By ~ 4

Author(s):

Sandra Sülzenbrück

Keyword(s):

Empirical Research ◽

Visual Feedback ◽

Closed Loop ◽

Motor Planning ◽

Visual Input ◽

Closed Loop Control ◽

Loop Control ◽

Feedback Type ◽

Effective Use ◽

The Impact

For the effective use of modern tools, the inherent visuo-motor transformation needs to be mastered. The successful adjustment to and learning of these transformations crucially depends on practice conditions, particularly on the type of visual feedback during practice. Here, a review about empirical research exploring the influence of continuous and terminal visual feedback during practice on the mastery of visuo-motor transformations is provided. Two studies investigating the impact of the type of visual feedback on either direction-dependent visuo-motor gains or the complex visuo-motor transformation of a virtual two-sided lever are presented in more detail. The findings of these studies indicate that the continuous availability of visual feedback supports performance when closed-loop control is possible, but impairs performance when visual input is no longer available. Different approaches to explain these performance differences due to the type of visual feedback during practice are considered. For example, these differences could reflect a process of re-optimization of motor planning in a novel environment or represent effects of the specificity of practice. Furthermore, differences in the allocation of attention during movements with terminal and continuous visual feedback could account for the observed differences.

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