This study presents a finite-time spatial path following control method for a robotic underactuated airship subject to model uncertainties and external disturbances. A finite-time path following approach is proposed by combining the backstepping approach with the terminal sliding mode control technique, and the upper bounds of model uncertainties and external disturbances are estimated by the designed adaptive laws. Compared with existing works on the path following control of airships, the algorithm presented in this study can guarantee the airship track a spatial predefined path in finite time in the presence of model uncertainties and external disturbances. Simulations are given to illustrate the effectiveness of the proposed path following control method.


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    Finite‐time spatial path following control for a robotic underactuated airship

    Weixiang Zhou / Pingfang Zhou / Yan Wei et al. | DOAJ | 2020

    Free access

    Finite‐time spatial path following control for a robotic underactuated airship

    Zhou, Weixiang / Zhou, Pingfang / Wei, Yan et al. | Wiley | 2020

    Free access