Robust three-dimensional path-following control for an under-actuated stratospheric airship. Issue 1 (1st January 2019)

• Record Type: Journal Article
• Authors: Cheng, Lin; Zuo, Zongyu; Song, Jiawei; Liang, Xiao
• Is Part Of: Advances in space research. Volume 63:Issue 1(2019)
• Page Start: 526
• Page End: 538
• Publication Date: 2019-01-01
• Subjects: Path-following control -- Stratosphere -- Under-actuated airship; Space sciences -- Periodicals; Astronautics -- Periodicals; Geophysics -- Periodicals; 500.505
• DOI: 10.1016/j.asr.2018.09.008
• Languages: English
• ISSNs: 0273-1177

Abstract

Abstract: This paper proposes a robust three-dimensional (3-D) path-following controller for an under-actuated stratospheric airship in the presence of uncertainties. The resultant control system exhibits an inner-outer loop control structure. In the outer control loop, the path-following error dynamics is constructed in a moving Serret-Frenet frame and a new guidance law with the sideslip and attack angle compensation is designed, which decreases the path-following steady-state error. In the inner control loop, a disturbance observer based backstepping control law is proposed to achieve the desired dynamic behavior on the path. Furthermore, a new velocity tracking control strategy is developed which aligns the resultant velocity tangent to the path. Finally, numerical simulation results are shown to verify the effectiveness of the proposed controller.