Asymmetric error-constrained path-following control of a stratospheric airship with disturbances and actuator saturation

被引:34
|
作者
Chen, Tian [1 ]
Zhu, Ming [1 ]
Zheng, Zewei [2 ,3 ]
机构
[1] Beihang Univ, Sch Aeronaut Sci & Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[3] Beihang Univ, Res Div 7, Beijing 100191, Peoples R China
基金
中国国家自然科学基金;
关键词
Stratospheric airship; Path following control; Asymmetric error constraints; Vector field; BARRIER LYAPUNOV FUNCTIONS; SLIDING MODE CONTROL; TRACKING CONTROL; BACKSTEPPING CONTROL; TRAJECTORY TRACKING; NONLINEAR-SYSTEMS; INPUT SATURATION; ADAPTIVE-CONTROL; SURFACE VESSEL; STABILIZATION;
D O I
10.1016/j.ymssp.2018.10.003
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper addresses the asymmetric error-constrained path-following problem of a stratospheric airship with external disturbances and actuator saturation. A path-following algorithm is proposed based on the theories of tan-type barrier Lyapunov function, vector field guidance, adaptive sliding mode control, and radial basis function neural network (RBFNN). First, to satisfy the asymmetric tracking error-constrained requirements of airship position, an asymmetric error-constrained vector field (AECVF) guidance law is presented, which can navigate the stratospheric airship along the predefined path and guarantee that the tracking error is limited by the error constraints. Second, an adaptive sliding mode attitude controller is introduced to track the desired attitudes calculated using the AECVF with disturbances. Finally, an adaptive velocity controller is added to the control algorithm to maintain an appropriate velocity. Moreover, an RBFNN saturation compensator is introduced to solve the actuator saturation problem caused by the low maneuverability. Stability analysis indicates that all the signals in the closed-loop system are uniformly ultimately bounded. Meanwhile, simulation results demonstrate the effectiveness of the proposed control algorithm. (C) 2018 Elsevier Ltd. All rights reserved.
引用
收藏
页码:501 / 522
页数:22
相关论文
共 50 条
  • [41] A decoupled path-following control algorithm based upon the decomposed trajectory error
    Yen, JY
    Ho, HC
    Lu, SS
    [J]. PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 3189 - 3194
  • [42] Horizontal Path-following Control Based on ESO for Parafoil Systems with Error Constraint
    Zhu, Erlin
    Du, Youwu
    Gao, Haitao
    Song, Wei
    [J]. 2023 IEEE 6TH INTERNATIONAL CONFERENCE ON INDUSTRIAL CYBER-PHYSICAL SYSTEMS, ICPS, 2023,
  • [43] A decoupled path-following control algorithm based upon the decomposed trajectory error
    Ho, HC
    Yen, JY
    Lu, SS
    [J]. INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE, 1999, 39 (10): : 1619 - 1630
  • [44] Path-Following Control with Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults
    Hao, Li-Ying
    Dong, Gege
    Li, Tieshan
    Peng, Zhouhua
    [J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2024, 11 (04) : 956 - 964
  • [45] Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults
    Li-Ying Hao
    Gege Dong
    Tieshan Li
    Zhouhua Peng
    [J]. IEEE/CAA Journal of Automatica Sinica, 2024, 11 (04) : 956 - 964
  • [46] DOPH?-based path-following control for underactuated marine vehicles with multiple disturbances and constraints
    Miao, Jianming
    Sun, Xingyu
    Peng, Chao
    Liu, Wenchao
    [J]. OCEAN ENGINEERING, 2022, 266
  • [47] An improved MPSP-based path-following control method for USV with input disturbances
    Li, Ao
    Hu, Xiaoxiang
    Dong, Kejun
    Xiao, Bing
    [J]. OPTIMAL CONTROL APPLICATIONS & METHODS, 2024,
  • [48] Backward path-following control of mobile robot with trailers based on following-error model
    Liu Min
    Huo Wei
    [J]. PROCEEDINGS OF THE 2007 CHINESE CONTROL AND DECISION CONFERENCE, 2007, : 485 - 488
  • [49] Constrained coordinated path-following control for underactuated surface vessels with the disturbance rejection mechanism
    Zhang, Guoqing
    Huang, Chenfeng
    Li, Jiqiang
    Zhang, Xianku
    [J]. OCEAN ENGINEERING, 2020, 196
  • [50] Path-following Control of a Velocity Constrained Tracked Vehicle Incorporating Adaptive Slip Estimation
    Burke, Michael
    [J]. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 97 - 102