Adaptive stabilization and trajectory tracking of airship with neutral buoyancy

被引：2

作者：

Zhang, Yan ^{[1
]}

Qu, Wei-Dong ^{[1
]}

Xi, Yu-Geng ^{[1
]}

Cai, Zi-Li ^{[2
]}

机构：

[1] Department of Automation, Shanghai Jiao Tong University

[2] Research and Development Center, GE (China) Co. Ltd.

来源：

Zidonghua Xuebao/ Acta Automatica Sinica | 2008年 / 34卷 / 11期

基金：

中国国家自然科学基金; 国家高技术研究发展计划(863计划);

关键词：

Adaptive nonlinear control; Autonomous airship; Lyapunov method; Matrosov theorem; Neutral buoyancy;

D O I：

10.1016/s1874-1029(08)60064-6

中图分类号：

学科分类号：

摘要：

This paper presents an adaptive nonlinear control solution to the horizontal motion of an autonomous airship. We define a novel family of error functions including configuration error and velocity error. Then, we establish the error system. The adaptive nonlinear controller stabilizing the error system is designed by Lyapunov direct method and Matrosov theorem. Numerical studies are presented to illustrate the effectiveness of the proposed controller.

引用

页码：1437 / 1440

页数：3

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