Full-state modeling and nonlinear control of balloon supported unmanned aerial vehicle

Abstract

Purpose The purpose of this study is to provide the full-state mathematical model and devise a nonlinear controller for a balloon-supported unmanned aerial vehicle (BUAV). Design/methodology/approach Newtonian mechanics is used to establish the nonlinear mathematical model of the proposed vehicle assembly which incorporates the dynamics of both balloon and quadrotor UAV. A controllable form of the nine degrees of freedom model is derived. Backstepping control is designed for the proposed model and simulations are performed to assess the tracking performance of the proposed control. Findings The results show that the proposed methodology works well for smooth trajectories in presence of wind gusts. Moreover, the final mathematical model is affine and various nonlinear control techniques can be used in the future for improved system performance. Originality/value Multi-rotor unmanned aerial vehicles (MUAVs) are equipped with controllers but are constrained by smaller flight endurance and payload carrying capability. On the contrary, lighter than air (LTA) aerial vehicles have longer flight times but have poor control performance for outdoor operations. One of the solutions to achieve better flight endurance and payload carrying capability is to augment the LTA balloon to MUAV. The novelty of this research lies in full-order mathematical modeling along with transformation to controllable form for the BUAV assembly.

Anti-vibration control design for TORA based barge-type offshore floating wind turbine using extended order high gain observer

“…, 2019). Another nonlinear control scheme is backstepping, which induces the stress for robustness by providing sufficient modeling details (Mazhar et al. , 2022; Ullah et al.…”

“…The integral SMC ensures a free reaching phase surface, while the nonsingular terminal sliding mode control converges the system states in finite-time (Li et al, 2014;Shah et al, 2019). Another EC 39,7 nonlinear control scheme is backstepping, which induces the stress for robustness by providing sufficient modeling details (Mazhar et al, 2022;Ullah et al, 2019). One of the other problems in such OFWT systems is the unavailability of the system states.…”