欠驱动飞艇三维路径跟踪控制

针对欠驱动飞艇的路径跟踪控制问题,提出了一种基于制导向量场的三维路径跟踪控制方法.首先,引入向量场理论.接着基于牛顿–欧拉方程建立欠驱动飞艇动力学模型.基于所提模型和向量场理论构造制导向量场以获得期望姿态角和期望速度.然后结合反步法和PD控制设计路径跟踪控制器,用指令滤波器对控制器设计过程中虚拟控制的导数进行估计,避免了复杂的解析计算.所设计的控制器是由制导向量场子系统、姿态稳定环和速度跟踪环组成的内外环结构.稳定性分析证明了飞艇的路径跟踪误差最终一致有界.最后仿真结果验证了所提出方法的有效性.

Three dimensional path-following control for an under-actuated airship

A new three dimensional path-following control algorithm for under-actuated airships based on guidance vector field is presented in this paper. Firstly, the vector field theory is described. Nextly the under-actuated airship dynamic is established based on Newton-Euler equations. Based on this model and the vector field theory, the guidance vector field is constructed to obtain the desired attitude angles and desired velocity. Then the path-following controller is proposed by using Backstepping technique and PD control technique. Command filters are utilized to estimate derivatives of the virtual controls during the controller design progress such that complex analytical calculations can be avoided. The resultant control system possesses a cascaded structure, which consists of a guidance vector field subsystem, an attitude stabilization control loop and a velocity tracking control loop. The stability analysis shows that path-following error of the airship is ultimately uniformly bounded. Finally, simulation results for the airship are illustrated to verify the effectiveness of the proposed design.