Stabilization of an underactuated bottom-heavy airship via interconnection and damping assignment

被引：16

作者：

Cai, Zili ^{[1
]}

Qu, Weidong ^{[1
]}

Xi, Yugeng ^{[1
]}

Wang, Yongjun ^{[1
]}

机构：

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

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2007年 / 17卷 / 18期

关键词：

nonlinear control; underactuated airship; interconnection and damping assignment; passivity-based control; stabilization; Hamiltonian systems;

D O I：

10.1002/rnc.1187

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on feedback stabilization of a neutrally buoyant and bottom-heavy airship actuated by only five independent controls (with the rolling motion underactuated). The airship is modelled as an eudipleural submerged rigid body whose dynamics is formulated as a Hamiltonian system with respect to a Lie-Poisson structure. By exploiting the geometrical structure and using the so-called interconnection and damping assignment (IDA) passivity-based methodology for port-controlled Hamiltonian systems, state feedback control laws asymptotically stabilizing two typical motions are designed via La Salle invariance principle and Chetaev instability theorem. Simulation results verify the control laws. Copyright (C) 2007 John Wiley & Sons, Ltd.

引用

页码：1690 / 1715

页数：26

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