Airship horizontal trajectory tracking control based on Active Disturbance Rejection Control (ADRC)

被引：135
作者：
Zhu, Erlin [1 ]
Pang, Jinfeng [1 ]
Sun, Na [2 ]
Gao, Haitao [1 ]
Sun, Qinglin [1 ]
Chen, Zengqiang [1 ]
机构：
[1] Nankai Univ, Coll Informat Tech Sci, Tianjin 300071, Peoples R China
[2] China Special Vehicle Res Inst, Jingmen 448035, Peoples R China
来源：
NONLINEAR DYNAMICS | 2014年 / 75卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Airship dynamic system; Trajectory tracking; Active disturbance rejection control (ADRC); Extended state observer (ESO); Multivariable decoupling; PATH-TRACKING;
D O I：
10.1007/s11071-013-1099-x
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Aiming at flight property of airship, a trajectory tracking controller of airship horizontal model is designed based on active disturbance rejection control (ADRC). The six Degree of Freedom (DOF) dynamic model of airship is simplified at a horizontal plane. ADRC is used to realize the decoupling control for the multivariable system. The uncertain items of the model and external disturbances are estimated by the extended state observer (ESO) and dynamic feedback compensation is carried on at real time. The disturbance of wind is added to the simulation environment. The simulation results show that the designed tracking controller can overcome the influences of uncertain items of the model and external disturbances, and track the desired trajectory rapidly and steadily, and possess good robustness and control performances.
引用
收藏
页码：725 / 734
页数：10
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