Immersion and invariance-based control of novel moving-mass flight vehicles

This paper proposes a novel configuration of the moving mass trim control system with a single moving mass and jet thrusters, which increases the control authority of control system while decreasing its volume and weight requirement. As a stepping stone, dynamics model of a moving-mass flight vehicle and control problem of attitude are formulated. Then, an adaptive controller based on the immersion and invariance approach is designed to guarantee asymptotic stability of the closed-loop system, and a slight improvement is developed to simplify the process. Furthermore, the estimator, which estimates aerodynamic coefficients and unmeasurable terms, is designed without certainty equivalence or linear parameterization. Instead, a procedure is provided to add cross terms between the parameter estimates and the plant states. Also, the associated stability proof is constructive and accomplished by the development of a Lyapunov function. In addition to stability proofs, numerical simulation results in different case are presented to illustrate the performance of the proposed schemes.