A New Approach to Attitude Stability and Control for Low Airspeed Vehicles

This paper describes an approach for controlling the attitude of statically unsable thrust-levitated vehicles in hover or slow translation. The large thrust vector that characterizes such vehicles can be modulated to provide control forces and moments to the airframe, but such modulation is accompanied by significant unsteady flow eects. These eects are dicult to model, and can compromise the practical value of thrust vectoring in closedloop attitude stability, even if the thrust vectoring machinery has sucient bandwidth for stabilization. The stabilization approach described in this paper is based on using internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other “outer loop” control functions. The three main components of this approach are: (1) a z-body axis angular momentum bias enhances static attitude stability, reducing the amount of control activity needed for stabilization, (2) optionally, gimbaled reaction wheels provide highbandwidth control torques for additional stabilization, or agility, and (3) the resulting strongly coupled system dynamics are controlled by a multivariable controller. A flight test vehicle is described, and nonlinear simulation results are provided that demonstrate the ecacy of the approach.