Three Dimension Path Following Control of Unmanned Airship Based on H∞Robust Adaptive Method
The 3D path following control of Unmanned Airship th uncertain model and unknown disturbance is investigated. Specific to this problem,first,the time singular perturbation method and orthogonal projection reference frame are used in modeling the centroid motion and attitude motion of the Unmanned Airship into an affine nonlinear system.Next,the network H∞ robust adaptive control method is used in the controller design to overcome uncertain of the model and the influence of external disturbances,at the same time,dominant input idea is used to reduce the complexity of the closed loop.The stability of the system is proved using Lyaponov stability theory.Simulation indicates that the path following controller could guarantee the motion of Unmanned Airship along the prescribed path with well performance.
GE Hui JING Zhongliang
School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）