Journal
IET INTELLIGENT TRANSPORT SYSTEMS
Volume 14, Issue 5, Pages 449-454Publisher
WILEY
DOI: 10.1049/iet-its.2019.0284
Keywords
adaptive control; control system synthesis; airships; nonlinear control systems; aircraft control; control nonlinearities; variable structure systems; finite-time spatial path; control method; robotic underactuated airship subject; model uncertainties; external disturbances; finite-time path following approach; backstepping approach; mode control technique; designed adaptive laws; airship track; spatial predefined path; time spatial path following control
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This study presents a finite-time spatial path following control method for a robotic underactuated airship subject to model uncertainties and external disturbances. A finite-time path following approach is proposed by combining the backstepping approach with the terminal sliding mode control technique, and the upper bounds of model uncertainties and external disturbances are estimated by the designed adaptive laws. Compared with existing works on the path following control of airships, the algorithm presented in this study can guarantee the airship track a spatial predefined path in finite time in the presence of model uncertainties and external disturbances. Simulations are given to illustrate the effectiveness of the proposed path following control method.
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