Journal
AEROSPACE SCIENCE AND TECHNOLOGY
Volume 97, Issue -, Pages -Publisher
ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
DOI: 10.1016/j.ast.2019.105610
Keywords
Underactuated stratospheric airship system; Sliding mode control; Adaptive estimator; Backstepping control; Trajectory tracking
Categories
Funding
- Chinese Aviation Science Fund [20160757001]
- National Natural Science Fund [10577012]
- China Scholarship Council [201806235014]
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The problem of trajectory tracking control for an underactuated stratospheric airship with model parameter uncertainties and wind disturbances is addressed in the paper. An adaptive backstepping sliding-mode controller is designed from the airship nonlinear dynamics model. The proposed controller has a two-level structure for trajectory guidance, tracking and stability, and the developed controller, based on nonlinear adaptive sliding-mode backstepping method, provides airship attitude and velocity control for the entire flight process. Furthermore, an active set based weighted least square algorithm is applied to find the optimal control surface inputs and the thruster commands under constraints of actuator saturation. The closed-loop system of trajectory tracking control plant is proved to be globally asymptotically stable by using Lyapunov theory. By comparing with traditional backstepping control and PID design, the results obtained demonstrate the capacity of the airship to execute a realistic trajectory tracking mission under two cases of lateral- and roll-underactuations, even in the presence of aerodynamic coefficient uncertainties, and wind disturbances. Crown Copyright (C) 2019 Published by Elsevier Masson SAS. All rights reserved.
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