Optimized allocation control system design of multi-thrust aerostat

Based on the model of four-propeller aerostat prototype, this paper designed a multi-propeller control system. Two control strategies are presented: the former designed PID anti-windup feedback controller and realized multi-propeller thrust allocation with pseudo-inverse algorithm on nonlinear system model, whereas the latter designed state feedback controller with robust optimal capability using H₂/H_∞ mixed algorithm on linear system model. Simulation results indicate that the design method of former control system is easy and adapt to realize, and it restricts the propeller output within controllable range; the design method of latter control system is relatively complicated, but it increases the capability of resisting wind field and noise disturbance. Both control systems have their emphases respectively and could provide reference to the design of multi-thrust aerostat control system.