Adaptive backstepping nonsingular terminal sliding-mode attitude control of flexible airships with actuator faults

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dc.contributor.authorLiu, Shiqian
dc.contributor.authorWhidborne, James F.
dc.contributor.authorSong, Sipeng
dc.contributor.authorLyu, Weizhi
dc.date.accessioned2022-04-12T15:31:11Z
dc.date.available2022-04-12T15:31:11Z
dc.date.issued2022-04-11
dc.description.abstractThis paper studies the attitude tracking control of a flexible airship subjected to wind disturbances, actuator saturation and control surface faults. Efficient flexible airship models, including elastic deformation, rigid body motions, and their coupling, are established via Lagrange theory. A fast-nonsingular terminal sliding-mode (NTSM) combined with a backstepping control is proposed for the problem. The benefits of this approach are NTSM merits of high robustness, fast transient response, and finite time convergence, as well as the backstepping control in terms of globally asymptotic stability. However, the major limitation of the backstepping NTSM is that its design procedure is dependent on the prior knowledge of the bound values of the disturbance and faults. To overcome this limitation, a wind observer is designed to compensate for the effect of the wind disturbances, an anti-windup compensator is designed to compensate for actuator saturation, and an adaptive fault estimator is designed to estimate the faults of the control surfaces. Globally exponential stability of the closed-loop control system is guaranteed by using the Lyapunov stability theory. Finally, simulation results demonstrate effectiveness and advantages of the proposed control for the Skyship-500 flexible airship, even in the presence of unknown wind disturbances, control surface faults, and different stiffness variants.en_UK
dc.identifier.citationLiu S, Whidborne JF, Song S, Lyu W. (2022) Adaptive backstepping nonsingular terminal sliding-mode attitude control of flexible airships with actuator faults. Aerospace, Volume 9, Issue 4, April 2022, Article number 209en_UK
dc.identifier.issn2226-4310
dc.identifier.urihttps://doi.org/10.3390/aerospace9040209
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17763
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectflexible airshipen_UK
dc.subjectfast-nonsingular terminal sliding-mode controlen_UK
dc.subjectbackstepping controlen_UK
dc.subjectwind disturbance observeren_UK
dc.subjectfault tolerant controlen_UK
dc.titleAdaptive backstepping nonsingular terminal sliding-mode attitude control of flexible airships with actuator faultsen_UK
dc.typeArticleen_UK

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