Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control

被引：0

作者：

Yue-neng YANG

机构：

来源：

Frontiers of Information Technology & Electronic Engineering | 2012年 / 07期

关键词：

Trajectory control; Sliding mode; Fuzzy system; Adaptation law; Uncertainty; External disturbance; Airship;

D O I：

暂无

中图分类号：

TP273 [自动控制、自动控制系统];

学科分类号：

080201 ; 0835 ;

摘要：

We present a novel control approach for trajectory tracking of an autonomous airship.First,the dynamics model and the trajectory control problem of an airship are formulated.Second,the sliding mode control law is designed to track a time-varying reference trajectory.To achieve better control performance,fuzzy adaptive sliding mode control is proposed in which the control gains are tuned according to fuzzy rules,and an adaptation law is used to guarantee that the control gains can compensate for model uncertainties of the airship.The stability of the closed-loop control system is proven via the Lyapunov theorem.Finally,simulation results illustrate the effectiveness and robustness of the proposed control scheme.

引用

页码：534 / 543

页数：10

共 29 条

[11]

An adaptive fuzzy controller based on sliding mode for robot manipulators. Sun F C,Sun Z Q,Feng G. IEEE Trans on Systems, Man and Cybernetics, Part B: Cybernetic . 1999

[12]

An adaptive fuzzy controller based on sliding mode for robot manipulators. Sun F C,Sun Z Q,Feng G. IEEE Trans on Systems, Man and Cybernetics, Part B: Cybernetic . 1999

[13]

A real-time adaptive control algorithm using neural nets with perturbation[J] . Yang Jian-gang,Wang Kai,Yang Hua-yong,Zhang Jian-min. &nbspJournal of Zhejiang University Science . 2000 (1)

[14] Sliding mode control for synchronization of chaotic systems with structure or parameters mismatching [J].

厉小润 ;

赵辽英 ;

赵光宙 .

Journal of Zhejiang University Science A(Science in Engineering), 2005, (06) :571-576

[15]

Stabilization and trajectory tracking of autonomous airship’s planar motion[J]. Zhang Yan1, Qu Weidong1, Xi Yugeng1 & Cai Zili2 1. Dept. of Automation, Shanghai Jiaotong Univ., Shanghai 200240, P. R. China; 2. GE (China) Research and Development Center Co., Ltd, Shanghai 201203, P. R. China. Journal of Systems Engineering and Electronics. 2008(05)

[16] 中性浮力下飞艇的自适应镇定与轨迹跟踪(英文) [J].

张燕 ;

屈卫东 ;

席裕庚 ;

蔡自立 .

自动化学报, 2008, (11) :1437-1440

[17] Saturated output feedback tracking control for robot manipulators via fuzzy self-tuning [J].

Huashan LIU Shiqiang ZHU Zhangwei CHEN State Key Lab of Fluid Power Transmission and Control Zhejiang University Hangzhou China College of Information Science and Technology Donghua University Shanghai China .

Journal of Zhejiang University-Science C(Computers & Electronics), 2010, 11 (12) :956-966

[18] Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators [J].

Mezghani Ben Romdhane Neila ;

Damak Tarak .

International Journal of Automation & Computing, 2011, 8 (02) :215-220

[19] 临近空间对地观测平台的矢量化建模及稳定性分析 [J].

杨跃能 ;

郑伟 ;

吴杰 ;

邹东升 .

国防科技大学学报, 2011, 33 (03) :28-32

[20]

Robotic airship trajectory tracking control using a backstepping methodology. Repoulias F,Papadopoulos E. IEEE International Conference on Robotics and Automation . 2008

← 1 2 3 →