Automatic approach procedure of a flying vehicle on a mobile platform using backstepping controller

Abstract

This paper presents the automatic approach procedure of a flying vehicle, attached to an ABB 7600 robot, and a mobile platform, attached to a Stewart platform. Due to a nonlinear dynamic behavior, it is necessary to implement complex control, stabilization and guidance schemes. The proposed solution for this system includes the development of an algorithm based on a backstepping control method, the controller design methodology being based on Lyapunov's stability theory. The proposed command law requires that the states are known, but it is also necessary to introduce a series of state estimators. Tracking a mobile platform is critical in surveillance, reconnaissance and tracking missions, with the control methodology defining a clear distinction between translational and rotational dynamics. The proposed algorithm is developed by separating two types of states involving an inverse kinematics, known as algebraic kinematics, in which the dynamic movements of the two pieces of equipment are used. The dynamics of the ABB 7600 robot involves a movement with seven degrees of freedom, while the Stewart platform can be used with a movement of six degrees of freedom. The proposed algorithm is implemented in both Matlab software and experimental testing. This paper provides results in terms of generating dynamics for both devices that can be used for simulating different scenarios of aerospace missions.

Keywords

• automatic approach
• abb 7600 robot
• stewart platform
• backstepping
• inverse kinematics
• control lyapunov function