We present a novel control approach for trajectory tracking of an autonomous airship.First,the dynamics model and the trajectory control problem of an airship are formulated.Second,the sliding mode control law is desi...We present a novel control approach for trajectory tracking of an autonomous airship.First,the dynamics model and the trajectory control problem of an airship are formulated.Second,the sliding mode control law is designed to track a time-varying reference trajectory.To achieve better control performance,fuzzy adaptive sliding mode control is proposed in which the control gains are tuned according to fuzzy rules,and an adaptation law is used to guarantee that the control gains can compensate for model uncertainties of the airship.The stability of the closed-loop control system is proven via the Lyapunov theorem.Finally,simulation results illustrate the effectiveness and robustness of the proposed control scheme.展开更多
基金Project supported by the Hunan Provincial Innovation Foundation for Postgraduate (No.CX2011B005)the National University of Defense Technology Innovation Foundation for Postgraduate (No.B110105),China
文摘We present a novel control approach for trajectory tracking of an autonomous airship.First,the dynamics model and the trajectory control problem of an airship are formulated.Second,the sliding mode control law is designed to track a time-varying reference trajectory.To achieve better control performance,fuzzy adaptive sliding mode control is proposed in which the control gains are tuned according to fuzzy rules,and an adaptation law is used to guarantee that the control gains can compensate for model uncertainties of the airship.The stability of the closed-loop control system is proven via the Lyapunov theorem.Finally,simulation results illustrate the effectiveness and robustness of the proposed control scheme.
