Control de seguimiento para un aerodeslizador no tripulado por medio de un único actuador

Abstract

This paper presents the development of a linear quadratic regulator for the navigational control of an underactuated and nonholonomicsystem: the unmanned hovercraft; a simplified model of the hovercraft derived from the general model for surface vehicles is used forthis end. This model considers three degrees of freedom for the hovercraft; two of them are completely actuated. A coefficient representing the dragforces perceived by the vehicle is added in the direction of the unactuated degree. It is found while verifying the controllability of the hovercraftthat the system is controllable as long as the angular velocity is not cero. Taking advantage that this model of the hovercraft is differentially flatwith respect to an inertial reference frame a circular trajectory is designed as the reference for the controller. After assuming that the angular velocityof the hovercraft is constant, these properties are used to design a controller that uses a single actuator to follow the reference trajectory. This paperproposes a control law that uses a linear quadratic regulator to determine its gains. The regulator is tuned by trial and error, starting from Bryson’sRule. This paper finishes with a series of simulations programmed on the software package MATLAB proving that, although the controller is notefficient, it follows the trajectory by means of a single actuation signal as expected.