Adaptive sliding-mode-backstepping trajectory tracking control of underactuated airships

Simple item page
dc.contributor.authorLiu, Shi Qian
dc.contributor.authorSang, Yuan Jun
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2020-01-14T16:28:20Z
dc.date.available2020-01-14T16:28:20Z
dc.date.issued2019-12-12
dc.description.abstractThe problem of trajectory tracking control for an underactuated stratospheric airship with model parameter uncertainties and wind disturbances is addressed in the paper. An adaptive backstepping sliding-mode controller is designed from the airship nonlinear dynamics model. The proposed controller has a two-level structure for trajectory guidance, tracking and stability, and the developed controller, based on nonlinear adaptive sliding-mode backstepping method, provides airship attitude and velocity control for the entire flight process. Furthermore, an active set based weighted least square algorithm is applied to find the optimal control surface inputs and the thruster commands under constraints of actuator saturation. The closed-loop system of trajectory tracking control plant is proved to be globally asymptotically stable by using Lyapunov theory. By comparing with traditional backstepping control and PID design, the results obtained demonstrate the capacity of the airship to execute a realistic trajectory tracking mission under two cases of lateral- and roll- underactuations, even in the presence of aerodynamic coefficient uncertainties, and wind disturbances.en_UK
dc.identifier.citationLiu SQ, Sang YJ, Whidborne J. (2019) Adaptive sliding-mode-backstepping trajectory tracking control of underactuated airships. Aerospace Science and Technology, Volume 97, February 2020, Article number 105610en_UK
dc.identifier.issn1270-9638
dc.identifier.urihttps://doi.org/10.1016/j.ast.2019.105610
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/14918
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectUnderactuated stratospheric airship systemen_UK
dc.subjectSliding mode controlen_UK
dc.subjectAdaptive estimatoren_UK
dc.subjectBackstepping controlen_UK
dc.subjectTrajectory trackingen_UK
dc.titleAdaptive sliding-mode-backstepping trajectory tracking control of underactuated airshipsen_UK
dc.typeArticleen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Adaptive_sliding-mode-backstepping_trajectory_tracking-2020.pdf
Size:
3.54 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)