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.
Finite-time spatial path following control for a robotic underactuated airship
IET Intelligent Transport Systems ; 14 , 5 ; 449-454
2019-09-19
6 pages
Article (Journal)
Electronic Resource
English
backstepping approach , control system synthesis , variable structure systems , mode control technique , aircraft control , robotic underactuated airship subject , spatial predefined path , airship track , model uncertainties , control nonlinearities , external disturbances , airships , finite-time spatial path , time spatial path following control , finite-time path following approach , nonlinear control systems , control method , designed adaptive laws , adaptive control
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