Direct-adaptive fuzzy path following control for an autonomous airship

被引:0
作者
机构
[1] Science and Technology on Aircraft Control Laboratory, Beihang University
[2] School of Aeronautic Science and Engineering, Beihang University
[3] The Senventh Research Division, Beihang University
来源
Zheng, Z.-W. (zeweizheng@buaa.edu.cn) | 1600年 / Northeast University卷 / 29期
关键词
Adaptive fuzzy; Autonomous airship; Backstepping; Path following;
D O I
10.13195/j.kzyjc.2012.1694
中图分类号
学科分类号
摘要
A direct-adaptive fuzzy path following control method for an autonomous airship is presented, which comprises path following control and adaptive fuzzy control. Firstly, based on the planar dynamic model of the airship, the path following control is designed consisting of guidance law, yaw tracking and velocity control. Then, a direct-adaptive fuzzy controller is constructed to approximate the unknown terms caused by system model uncertainties and external disturbances. It is proved that the proposed controller can make the airship track the desired path and force the tracking error to converge to a small neighborhood of the origin. Simulation results show the effectiveness of the proposed method.
引用
收藏
页码:418 / 424
页数:6
相关论文
共 17 条
[1]  
Yoshikazu I., Katsuya S., Kouichi S., Flight control testing for the development of stratospheric platform airships, AIAA's 3rd Annual Aviation Technology, Integration and Operations Forum, pp. 1-11, (2003)
[2]  
Lee Y.G., Kim D.M., Yeom C.H., Development of Korean high altitude platform systems, Int J Wireless Information Networks, 13, 1, pp. 31-42, (2006)
[3]  
Lee M., Smith S., Androulakakis S., The high altitude lighter than air airship efforts at the US army space and missile defense command/army forces strategic command, The 18th AIAA Lighter-Than-Air Systems Technology Conf, pp. 1-26, (2009)
[4]  
Aguiar A., Hespanha J.P., Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty, IEEE Trans on Automation Control, 52, 8, pp. 1362-1379, (2007)
[5]  
Zhang Y., Qu W.-D., Xi Y.-G., Adaptive stabilization and trajectory tracking of airship with neutral buoyancy, Acta Automatica Sinica, 34, 11, pp. 1437-1441, (2008)
[6]  
Lee S.J., Lee H.C., Won D.Y., Et al., Backstepping approach of trajectory tracking control for the mid-altitude unmanned airship, Proc of Guidance, Navigation and Control Conf, pp. 1-14, (2007)
[7]  
Zheng Z.W., Huo W., Trajectory tracking control for a stratospheric airship, Control and Decision, 26, 10, pp. 1479-1484, (2011)
[8]  
Azinheira J.R., Moutinho A., Hover control of an UAV with backstepping design including input saturations, IEEE Trans on Control System Technology, 16, 3, pp. 517-526, (2008)
[9]  
Azinheira J.R., Moutinho A., Paiva E.C., A backstepping controller for path-tracking of an underactuated autonomous airship, Int J Robust and Nonlinear Control, 19, 4, pp. 418-441, (2009)
[10]  
Zheng Z.-W., Huo W., Planar path following control for stratospheric airship, IET Control Theory Applications, 7, 2, pp. 185-201, (2013)