Trajectory tracking control for underactuated stratospheric airship |
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| Authors: | Zewei Zheng Wei Huo Zhe Wu |
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| Institution: | 1. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, PR China;2. School of Aeronautical Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, PR China;3. The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100191, PR China |
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| Abstract: | Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach. |
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| Keywords: | Stratospheric airship Trajectory tracking control Trajectory linearization control Exponentially stable |
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