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.
Positioning Control for an Autonomous Airship
Journal of Aircraft ; 53 , 6 ; 1638-1646
2016-05-09
9 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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