Autonomous airship path following control: Theory and experiments

被引：53
|
作者：
Zheng, Zewei [1 ,2 ]
Huo, Wei [1 ,3 ]
Wu, Zhe [2 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Beijing Univ Aeronaut & Astronaut, Sch Aeronaut Sci & Engn, Beijing 100191, Peoples R China
[3] Beijing Univ Aeronaut & Astronaut, Res Div 7, Beijing 100191, Peoples R China
来源：
CONTROL ENGINEERING PRACTICE | 2013年 / 21卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Autonomous airship; Path following control; Trajectory linearisation control; Flight experiments; DYNAMIC INVERSION; CONTROL-SYSTEM; GUIDANCE; NAVIGATION; TRACKING; DESIGN;
D O I：
10.1016/j.conengprac.2013.02.002
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel path following control method related to the planar and spatial motions for an underactuated autonomous airship is presented. First, the trajectory linearisation control (TLC) theory is briefly described and the dynamic model of the airship is introduced. Then, based on the model, a path following strategy that integrates the guidance-based path following principle and the TLC theory is deduced. The designed control system possesses a cascaded structure composed of a guidance loop, an attitude kinematics loop and a dynamics control loop. Stability analysis shows that the controlled closed-loop system is asymptotically stable. Finally, experimental flight results for the airship following typical paths are illustrated to verify the effectiveness of the proposed approach. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：769 / 788
页数：20
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