Attitude control for stratospheric balloon-borne gondola system based on adaptive PID controller

The stratospheric balloon-borne gondola attitude control system is discussed, and a robust adaptive PID controller is proposed. The attitude control scheme is introduced firstly, and the system mathematical model is established. The attitude control system uses reaction wheel subsystem to control the balloon-borne attitude accurately, and uses the decoupling mechanism subsystem to decrease the speed of the wheel motor and decouple disturbance torques. For the stratospheric balloon-borne gondola attitude control system, a robust adaptive PID controller is proposed, which used the PID controller as closed-loop controller and used the CMAC neural network to approximate the nonlinear and uncertainties. The stability proof of the closed-loop controller is presented also. The simulation and experiment results demonstrate that the proposed attitude control scheme and robust adaptive PID controller can realize the attitude tracking precisely, and have stronger robustness.