Stabilization and trajectory tracking of autonomous airship's planar motion

被引：0

作者：

Zhang Yan ^{[1
]}

Qu Weidong ^{[1
]}

Xi Yugeng ^{[1
]}

Cai Zili ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

[2] GE China Res & Dev Ctr Co Ltd, Shanghai 201203, Peoples R China

来源：

JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS | 2008年 / 19卷 / 05期

关键词：

airship; planar motion; stabilization; trajectory tracking; robustness; Lyapunov stability; Matrosov theorem;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The stabilization and trajectory tracking problems of autonomous airship's planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed.

引用

页码：974 / 981

页数：8

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