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.
Robust three-dimensional path-following control for an under-actuated stratospheric airship
Advances in Space Research ; 63 , 1 ; 526-538
2018-09-05
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Global path following control for underactuated stratospheric airship
Online Contents | 2013
|Global path following control for underactuated stratospheric airship
Elsevier | 2013
|