Title :
Planar path following control for stratospheric airship
Author :
Zewei Zheng ; Wei Huo
Author_Institution :
Sci. & Technol. on Aircraft Control Lab., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
A novel planar path following control method for an underactuated stratospheric airship is presented in this study. Firstly, the Guidance-Based Path Following (GBPF) principle and the Trajectory Linearisation Control (TLC) theory are described. Then, dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Based on this model, a path following control strategy integrated GBPF principle and TLC theory is deduced. The designed control system possesses a cascaded structure which consists of guidance law subsystem, attitude control loop and velocity control loop. Stability analysis shows that the controlled closed-loop system is asymptotically stable. Finally, simulations for the stratospheric airship and flight experimental results for a low-altitude airship to follow typical paths are illustrated to verify effectiveness of the proposed approach.
Keywords :
airships; asymptotic stability; attitude control; cascade systems; closed loop systems; control system synthesis; linearisation techniques; path planning; trajectory control; velocity control; GBPF principle; TLC theory; asymptotic stability; attitude control loop; cascaded structure; closed loop system; control system design; dynamic model; dynamics equation; guidance law subsystem; guidance-based path following principle; kinematics equation; low-altitude airship; path following control strategy; planar path following control method; stability analysis; trajectory linearisation control theory; underactuated stratospheric airship; velocity control loop;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2011.0462
