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Positioning Control for an Autonomous Airship

机译：自主飞艇的定位控制

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摘要

The problem of positioning control for an autonomous airship in the presence of model uncertainties and external disturbances is addressed in the paper. First, the ZY-1 autonomous airship is introduced and a dynamics model of the airship is presented. Second, a backstepping sliding-mode control approach is proposed to develop the positioning controller. The backstepping controller is designed recursively by selecting some appropriate functions of state variables as pseudocontrol inputs for lower-dimension subsystems of the overall system based on a Lyapunov function, which provides the flexibility to treat nonlinear terms and guarantee the stability of a closed-loop system. Furthermore, the backstepping control combined with the sliding-mode control is proposed to assure the robustness against parametric uncertainties and external disturbances. The stability of the closed-loop controller is proven via the Lyapunov stability theorem. Finally, simulation results illustrate the effectiveness and robustness of the proposed control approach, and comparing results indicates that the backstepping sliding-mode control has better performance against the sliding-mode control.
机译：本文解决了存在模型不确定性和外部干扰的自主飞艇的定位控制问题。首先，介绍了ZY-1自主飞艇，并提出了飞艇动力学模型。其次，提出了一种反推滑模控制方法来开发定位控制器。基于Lyapunov函数，通过选择一些适当的状态变量函数作为整个系统的低维子系统的伪控制输入，来递归设计Backstepping控制器，该函数提供了处理非线性项并确保闭环系统稳定性的灵活性。此外，提出了将反步控制与滑模控制相结合以确保对参数不确定性和外部干扰的鲁棒性。 Lyapunov稳定性定理证明了闭环控制器的稳定性。最后，仿真结果说明了所提出的控制方法的有效性和鲁棒性，并且比较结果表明，后推滑模控制具有优于滑模控制的性能。

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  • 来源
    《Journal of Aircraft》 |2016年第6期|1638-1646|共9页
  • 作者

    Yang Yueneng; Wu Jie; Zheng Wei;

  • 作者单位

    Natl Univ Def Technol, Inst Aerosp Technol, Coll Aerosp Sci & Engn, 47 Yanwachi St, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Dept Aerosp, Coll Aerosp Sci & Engn, Staff Room Flight Dynam & Control,47 Yanwachi St, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Inst Near Space Aircraft Overall Technol, Coll Aerosp Sci & Engn, 47 Yanwachi St, Changsha 410073, Hunan, Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
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