Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation. (15th November 2018)

• Record Type: Journal Article
• Authors: Wen, Y.; Chen, L.; Wang, Y.; Sun, D.; Duan, D.; Liu, J.
• Is Part Of: Aeronautical journal. Volume 122:Number 1257(2018)
• Page Start: 1753
• Page End: 1774
• Publication Date: 2018-11-15
• Subjects: Model predictive control, -- disturbance observer, -- tracking differentiator, -- station-keeping, -- saturation; Aeronautics -- Periodicals; 629.1305
• DOI: 10.1017/aer.2018.91
• Languages: English
• ISSNs: 0001-9240

Abstract

ABSTRACT: A nonlinear station-keeping control method for a multi-vectored propeller airship under unknown wind field with thrust saturation is developed, which is composed of three modules: nonlinear model predictive controller (NMPC), disturbance observer (DOB) and tracking differentiator (TD). The nonlinear kinematics and dynamics models are introduced, and the wind effect is considered by the wind-induced aerodynamic force. Based on both models, an explicit NMPC is designed. Then a nonlinear DOB is introduced to estimate the wind disturbance. A TD, showing the relationship between the maximum propulsion force and the maximum flight acceleration, is proposed to handle the thrusts' amplitude saturation. Stability analysis shows that the closed-loop system is globally asymptotically stable. Simulations for a multi-vectored propeller airship are conducted to demonstrate the robustness and effectiveness of the proposed method.