Abstract
The robotic airship can provide a promising aero-static platform for many potential applications.These applica-tions require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajec-tory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertain-ties and wind disturbances is opted against distributed parame-ters.It uses extended Kalman filter(EKF)for uncertainty and dis-turbance estimation.The estimated parameters are used by sli-ding mode controller(SMC)for ultimate control of airship trajec-tory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind distur-bances as well as model uncertainty due to the mass matrix vari-ations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering prob-lem of SMC under model uncertainties and wind disturbances.
NETL
NSTL
维普
万方数据