Adaptive Trajectory Tracking of Stratospheric Airship Based on Input-output Stability Theory

摘要：

Based on input-output stability theory a new approach is introduced about cruise trajectory tracking adaptive control of a fully-actuated stratospheric airship. Firstly the dynamic model is expressed by the generalized coordinates. In view of the imprecisely unknown inertial parameters, online inertial parameter estimator and trajectory tracking law are designed to realize autonomous tracking of any continuous time-varying desired trajectory from an arbitrary initial condition. The stability of the closed-loop control system is proved by using the Lyapunov stability theory. Finally, simulation results of tracking a typical trajectory for such a fully-actuated airship show the validity of the proposed method.

关键词： Adaptive control Input-output stability Stratospheric airship Trajectory tracking

作者: Yongmei Wu Ming Zhu Zongyu Zuo Zewei Zheng

作者单位: School of Aeronautical Science and Engineering Beijing University of Aeronautics and Astronautics Be School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astron

会议类型: 国际会议

会议名称: 2011 Fourth International Symposium on Computational Interlligence and Design 第四届计算智能与设计国际会议 ISCID 2011

会议地点: 杭州

会议语种:英文

页码: 301-305

在线出版日期: 2011-10-28（万方平台首次上网日期，不代表论文的发表时间）