Asymptotic tracking position control with active oscillation damping of a multibody Mars vehicle using two artificial augmentation approaches

Abstract The Valles Marineris Explorer Cooperative Swarm navigation, Mission and Control research project aims to explore the canyon system on Mars with, among others, multibody rotary-wing unmanned aerial vehicles (UAVs) comprising of a hexrotor helium-filled balloon being attached it by means rope. In this paper, we develop high-fidelity closed-loop control in MATLAB ® Simulink™ present application an adequate flight controller guaranteeing (1) asymptotic tracking position system, (2) suppression balloon’s swinging motion forward case, (3) stabilization rope angle around its equilibrium for steady-state conditions. Applying feedback linearization outer loop analytical backstepping inner nonlinear cascaded design model propose extension baseline two artificial augmentation approaches cope with dynamics. Basically, utilizing oscillation damping feedbacks uncertain plant which are applied as additional commands either or loop’s reference model. Simulation results presented eight-shaped maneuver at bottom proving that units increase capabilities suppress modeling errors artificially—without changing laws. actively damp case non-steady-state conditions counteract oscillations finally stabilize equilibrium, so vehicle is able reach when extraterrestrial mission profile successfully completed.