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|Title:||Finite-time path following control for a stratospheric airship with input saturation and error constraint||Authors:||Zheng, Zewei
|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. https://dx.doi.org/10.1080/00207179.2017.1357839||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.||URI:||https://hdl.handle.net/10356/151371||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|
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