Observer Based Path Following Control for a Stratospheric Airship with Modeling Uncertainties and Actuator Saturation | IEEE Conference Publication | IEEE Xplore

Observer Based Path Following Control for a Stratospheric Airship with Modeling Uncertainties and Actuator Saturation


Abstract:

The planar path following problem for a fully-actuated stratospheric airship with modeling uncertainties and actuator saturation is investigated in this paper. Firstly, a...Show More

Abstract:

The planar path following problem for a fully-actuated stratospheric airship with modeling uncertainties and actuator saturation is investigated in this paper. Firstly, a six-DOF dynamical model of the stratospheric airship is given. Secondly, six path following errors and their derivatives for the airship are derived from the model. Thirdly, a disturbance observer is constructed to estimate unknown terms in the airship model such that a dynamic inversion control law can be designed. In consideration of saturated characteristics of the actuator, the control law is redesigned by introducing an anti-saturation dynamic compensation term. Finally, it is proved that the six path following errors can be controlled to a small neighborhood of the origin with arbitrary accuracy. Simulation results for the airship to follow a circular path are presented to verify effectiveness of the proposed method.
Date of Conference: 26-28 July 2021
Date Added to IEEE Xplore: 06 October 2021
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Conference Location: Shanghai, China

1 Introduction

Stratospheric airship, a typical lighter-than-air aircraft, has many distinguishing features like long endurance, high payload-to-weight ratio and low fuel consumption. It is viewed as a significant platform for many missions, such as surveillance, earth observation, region navigation, telecommunication, and environmental monitoring[1]. Lots of related researches have been done during the past two decades, the famous ones include “high altitude airships” (HAA) project of the U.S. Lockheed Martin[2], the HiSentinel of the Southwest Research Institute[3], the stratellite of Sanswire[4], the high altitude long endurance airship of NASA[5] and the Korean high altitude platform systems[6]. Due to the airship is an inherently nonlinear and highly coupled multi-input multi-output system with parameter uncertainties, unknown disturbances and actuator saturation, design its flight control system has become a challenging problem.

References

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