Airship robust path-tracking: A tutorial on airship modelling and gain-scheduling control design

被引：46

作者：

Moutinho, Alexandra ^{[1
]}

Azinheira, Jose Raul ^{[1
]}

de Paiva, Ely C. ^{[2
]}

Bueno, Samuel S. ^{[3
]}

机构：

[1] Univ Lisbon, Inst Super Tecn, IDMEC LAETA, Pav Mecan 3,Ave Rovisco Pais, P-1049001 Lisbon, Portugal

[2] Univ Estadual Campinas, Fac Engn Mecan, 200 Barao Geraldo, BR-13083970 Campinas, SP, Brazil

[3] DRVC CTI, Ctr Tecnol Informacao Renato Archer, Rodovia D Pedro 1 SP-65 Km 143-6, BR-13069901 Campinas, SP, Brazil

来源：

CONTROL ENGINEERING PRACTICE | 2016年 / 50卷

关键词：

Airship; Modelling; Dynamics analysis; Gain-scheduling; LQR; Path-tracking; Robustness; ROBOTIC AIRSHIP;

D O I：

10.1016/j.conengprac.2016.02.009

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 provides a tutorial view on airship path-tracking under wind disturbances. It addresses the relevant aspects towards this objective, namely the airship modelling, the dynamics analysis over the flight envelope, and the step-by-step design of a gain-scheduling control. The required parts to build a proper airship simulator are given: airship dynamics and actuation, and wind disturbances. A path tracking gain-scheduling controller is designed and its performance and robustness evaluated in the simulation environment described for a complete airship mission consisting of vertical takeoff and landing, cruise flight and ground-hover, under realistic wind disturbances. Throughout the paper, considerations are done regarding the airship behavior and limitations, as well as what can be accomplished and how. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：22 / 36

页数：15

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