A transformed proportional-integral-derivative controller for a multi-vectored propeller aerostat with independent actuator magnitude and rate saturations

Li Chen; Yuxiang Deng; Qiyuan Gao; Jinguo Liu

doi:10.1177/0036850420950123

A transformed proportional-integral-derivative controller for a multi-vectored propeller aerostat with independent actuator magnitude and rate saturations

Sci Prog. 2020 Jul-Sep;103(3):36850420950123. doi: 10.1177/0036850420950123.

Authors

Li Chen^{1

2}, Yuxiang Deng¹, Qiyuan Gao¹, Jinguo Liu²

Affiliations

¹ School of Air Transportation, Shanghai University of Engineering Science, Shanghai, China.
² State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.

Abstract

The problem of designing a controller for a multi-vectored propeller airship with independent amplitude and rate saturations is addressed. First, a linear Proportional-Integral-Derivative (PID) controller is introduced for position control without considering the input saturations. Then, two design methods are applied to the traditional PID control output to satisfy the independent amplitude and rate constraints: the nested saturated PID controller (N-PID) and the transformed PID controller (T-PID). The bounded magnitudes and rate outputs of the modified controllers are given. Simulation results showed both controllers have good tracking performance while satisfying independent amplitude and rate saturations. However, the transformed PID controller has the advantage of expressing explicitly the relationship of the actuator magnitude and rate saturations with the parameters of the transformed function such that the actuator saturations are suppressed by calculation but not by trial and error.

Keywords: Actuator magnitude saturation; actuator rate saturation; multi-vectored propeller airship; nested saturated PID controller; transformed PID controller.