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| 自治飞艇直接自适应模糊路径跟踪控制 | |
| 引用本文： | 郑泽伟,霍伟,武哲.自治飞艇直接自适应模糊路径跟踪控制[J].控制与决策,2014,29(3):418-424. |
| 作者姓名： | 郑泽伟 霍伟 武哲 |
| 作者单位： | 北京航空航天大学 a. 控制一体化技术国家级科技重点实验室, b. 航空科学与工程学院，c. 第七研究室，北京100191 |
| 基金项目： | 国家自然科学基金项目(61074010, 61203022)；中国博士后科学基金项目(2013M540840). |
| 摘 要： | 针对具有模型不确定和未知外部干扰的自治飞艇, 提出了直接自适应模糊路径跟踪控制方法. 该方法由路径跟踪控制和自适应模糊控制两部分组成. 首先基于飞艇的平面运动模型设计路径跟踪控制律, 包括制导律计算、偏航角跟踪和速度控制3 部分; 然后构造直接自适应模糊控制器逼近路径跟踪控制律中的不确定项. 稳定性分析证明所设计的控制律能使飞艇跟踪给定的期望路径, 跟踪误差收敛到原点的小邻域内. 仿真结果验证了所提出方法的有效性. |
| 关 键 词： | 自治飞艇|路径跟踪|自适应模糊|反步法 |
| 收稿时间： | 2012/11/10 0:00:00 |
| 修稿时间： | 2013/4/1 0:00:00 |
Direct-adaptive fuzzy path following control for an autonomous airship |
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| ZHENG Ze-wei HUO Wei WU Zhe.Direct-adaptive fuzzy path following control for an autonomous airship[J].Control and Decision,2014,29(3):418-424. | |
| Authors: | ZHENG Ze-wei HUO Wei WU Zhe |
| Abstract: | A direct-adaptive fuzzy path following control method for an autonomous airship is presented, which comprises path following control and adaptive fuzzy control. Firstly, based on the planar dynamic model of the airship, the path following control is designed consisting of guidance law, yaw tracking and velocity control. Then, a direct-adaptive fuzzy controller is constructed to approximate the unknown terms caused by system model uncertainties and external disturbances. It is proved that the proposed controller can make the airship track the desired path and force the tracking error to converge to a small neighborhood of the origin. Simulation results show the effectiveness of the proposed method. |
| Keywords: | autonomous airship|path following|adaptive fuzzy|backstepping |
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