Please use this identifier to cite or link to this item:
Title: Finite-time path following control for a stratospheric airship with input saturation and error constraint
Authors: Zheng, Zewei
Xie, Lihua
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2019
Source: Zheng, Z. & Xie, L. (2019). Finite-time path following control for a stratospheric airship with input saturation and error constraint. International Journal of Control, 92(2), 368-393.
Journal: International Journal of Control
Abstract: This paper addresses the finite-time path following control problem for an under-actuated stratospheric airship with input saturation, error constraint, and external disturbances. To handle the adverse effect of input saturation, anti-windup compensators are employed and finite-time convergence of the saturated control solution is established. Error constraints of airship position and attitude are handled by incorporating a tan-type barrier Lyapunov function (TBLF) in guidance and attitude control schemes. Backstepping design is presented with the anti-windup compensators, the TBLF, and nonlinear disturbance observers which estimate the external disturbances. Stability analysis shows that the tracking errors of the airship position converge into a small set around zero within finite-time, the constrained requirements on the airship position and attitude are not violated during operation, and all closed-loop signals are guaranteed to be uniformly ultimately bounded. Compared with the conventional control scheme, simulation results illustrate that the proposed finite-time controller offers a faster convergence rate and a higher path following accuracy for the stratospheric airship.
ISSN: 0020-7179
DOI: 10.1080/00207179.2017.1357839
Rights: © 2017 Informa UK Limited, trading as Taylor & Francis Group. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

Page view(s)

Updated on Oct 24, 2021

Google ScholarTM




Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.