Path-following control of an underactuated stratospheric airship with unknown dynamics and external disturbances using time-delay control

被引：0

作者：

Lin, Qiming ^{[1
]}

Zhou, Pingfang ^{[1
]}

Wang, Quanbao ^{[1
]}

Wu, Yang ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, 800 Dongchuan Rd, Shanghai 200240, Peoples R China

[2] Shandong Univ Sci & Technol, Sch Elect Engn & Automat, Shandong, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING | 2024年 / 238卷 / 12期

基金：

中国国家自然科学基金;

关键词：

Stratospheric airship; underactuation; path-following control; vector field guidance; time-delay control; TRAJECTORY TRACKING CONTROL; SLIDING-MODE CONTROL; BACKSTEPPING CONTROL; UNCERTAINTY; OBSERVER; DESIGN;

D O I：

10.1177/09544100241262069

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper, the path-following problem for an underactuated stratospheric airship with unknown dynamics and external disturbances has been studied. Vector field guidance is employed to fix the underactuated issue and generate desired heading. Time-delay control (TDC) is utilised to track desired states and estimate the model uncertain and disturbances using simple delayed states. To compensate time-delay estimation (TDE) errors, terminal sliding-mode is utilised and combined with TDC. The stability of the proposed controller is provided by using Lyapunov function. A numerical simulation is demonstrated to prove the performance of the proposed control algorithm.

引用

页码：1226 / 1236

页数：11

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