Finite-time path following control for a stratospheric airship with input saturation and error constraint
This paper addresses the finite-time path following control problem for an under-actuated stratospheric airship with input saturation, error constraint, and external disturbances. To handle the adverse effect of input saturation, anti-windup compensators are employed and finite-time convergence of t...
Saved in:
| Main Authors: | , |
|---|---|
| 其他作者: | |
| 格式: | Article |
| 語言: | English |
| 出版: |
2021
|
| 主題: | |
| 在線閱讀: | https://hdl.handle.net/10356/151371 |
| 標簽: |
添加標簽
沒有標簽, 成為第一個標記此記錄!
|
| 總結: | This paper addresses the finite-time path following control problem for an under-actuated stratospheric airship with input saturation, error constraint, and external disturbances. To handle the adverse effect of input saturation, anti-windup compensators are employed and finite-time convergence of the saturated control solution is established. Error constraints of airship position and attitude are handled by incorporating a tan-type barrier Lyapunov function (TBLF) in guidance and attitude control schemes. Backstepping design is presented with the anti-windup compensators, the TBLF, and nonlinear disturbance observers which estimate the external disturbances. Stability analysis shows that the tracking errors of the airship position converge into a small set around zero within finite-time, the constrained requirements on the airship position and attitude are not violated during operation, and all closed-loop signals are guaranteed to be uniformly ultimately bounded. Compared with the conventional control scheme, simulation results illustrate that the proposed finite-time controller offers a faster convergence rate and a higher path following accuracy for the stratospheric airship. |
|---|