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Spatial Path Following Control of an Autonomous Underactuated Airship
Wei-Xiang Zhou,Chang Xiao,Ping-Fang Zhou,Deng-Ping Duan 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.7
This paper studies the spatial path following control of an autonomous underactuated airship in the presence of model uncertainties and external disturbances. Firstly, the nonlinear dynamics model, kinematics modeland path following error dynamics model are given. And the control objective is formulated. Then, an adaptivebackstepping sliding mode controller is designed. Besides, to overcome the disadvantage of dependence on theaccurate vehicle model, a nonlinear disturbance observer (NDOB) is adopted to estimate the attack and sideslip angular velocities. In addition, when backstepping technique is uesd, the complex analytic computation of commandderivative is required to be known. To handle this problem, a sliding mode differentiator is implemented to generatethe command derivatives. Finally, the closed loop stability for the system is proved using Lyapunov stability theory. Numerical simulations are given to demonstrate the effectiveness of the proposed method.