|Spatial Path Following Control of an Autonomous Underactuated Airship
Wei-Xiang Zhou*, Chang Xiao, Ping-Fang Zhou, and Deng-Ping Duan
International Journal of Control, Automation, and Systems, vol. 17, no. 7, pp.1726-1737, 2019
Abstract : This paper studies the spatial path following control of an autonomous underactuated airship in the presence of model uncertainties and external disturbances. Firstly, the nonlinear dynamics model, kinematics model
and path following error dynamics model are given. And the control objective is formulated. Then, an adaptive
backstepping sliding mode controller is designed. Besides, to overcome the disadvantage of dependence on the
accurate vehicle model, a nonlinear disturbance observer (NDOB) is adopted to estimate the attack and sideslip angular velocities. In addition, when backstepping technique is uesd, the complex analytic computation of command
derivative is required to be known. To handle this problem, a sliding mode differentiator is implemented to generate
the command derivatives. Finally, the closed loop stability for the system is proved using Lyapunov stability theory.
Numerical simulations are given to demonstrate the effectiveness of the proposed method.
Adaptive control, airship, backstepping sliding mode control, disturbance observer, path following.