Energy Based Control of a Swash Mass Helicopter Through Decoupling Change of Coordinates

• Main Authors: Babak Salamat, Andrea M. Tonello
• Format: Article
• Language: English
• Published: IEEE 2020-01-01
• Series: IEEE Access
• Subjects: Unmanned aerial vehicles; swash mass helicopter; decoupling change of coordinates; passivity-based control; trajectory tracking
• Online Access: https://ieeexplore.ieee.org/document/9076666/

We consider a small helicopter structure that is maneuvered through the control of moving masses. It is referred to as a swash mass helicopter (SMH). This paper addresses the trajectory tracking control problem for the SMH, with a specific focus on the decoupling change of coordinates of both rotational and translational dynamics. We propose a control scheme in which position tracking is the primary objective, while the attitude tracking task is considered as a secondary objective. The intermediate control signals related to the attitude dynamics exploit the structural properties of the SMH and are enhanced with terms that grant a more accurate tracking of the target trajectory. The closed-loop system stability under the trajectory tracking objective is obtained following the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) approach. In addition, the presence of external disturbances can diminish the trajectory tracking performance. For this reason, a nonlinear outer loop controller is added to the IDA-PBC to compensate the disturbances. Finally, the results of several simulations are reported to evaluate the performance of the control strategy.