Robust three-dimensional path-following control for an under-actuated stratospheric airship |
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Authors: | Lin Cheng Zongyu Zuo Jiawei Song Xiao Liang |
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Institution: | 1. School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing 100191, China;2. Department of Civil, Structural and Environmental Engineering, University at Buffalo, Buffalo, NY 14260, USA |
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Abstract: | This paper proposes a robust three-dimensional (3-D) path-following controller for an under-actuated stratospheric airship in the presence of uncertainties. The resultant control system exhibits an inner-outer loop control structure. In the outer control loop, the path-following error dynamics is constructed in a moving Serret-Frenet frame and a new guidance law with the sideslip and attack angle compensation is designed, which decreases the path-following steady-state error. In the inner control loop, a disturbance observer based backstepping control law is proposed to achieve the desired dynamic behavior on the path. Furthermore, a new velocity tracking control strategy is developed which aligns the resultant velocity tangent to the path. Finally, numerical simulation results are shown to verify the effectiveness of the proposed controller. |
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Keywords: | Path-following control Stratosphere Under-actuated airship |
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