| 欠驱动飞艇平面路径跟踪控制 |
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| 引用本文： | 左宗玉,王欣欣. 欠驱动飞艇平面路径跟踪控制[J]. 控制与决策, 2017, 32(6): 983-988 |
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| 作者姓名： | 左宗玉 王欣欣 |
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| 作者单位： | 1. 北京航空航天大学自动化科学与电气工程学院,北京100191;2. 北京航空航天大学第七研究室,北京100191,1. 北京航空航天大学自动化科学与电气工程学院,北京100191;2. 北京航空航天大学第七研究室,北京100191 |
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| 基金项目： | 国家自然科学基金项目(61673034)；航空科学基金项目(2012CZ51029)；航天支撑技术基金项目. |
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| 摘 要： | 针对欠驱动飞艇模型,提出一种基于制导向量场的平面路径跟踪控制方法.首先,基于牛顿-欧拉方程建立欠驱动飞艇动力学模型;然后,基于向量场理论构造制导向量场以获得期望偏航角,结合反步法设计路径跟踪控制律,并通过稳定性分析证明所设计的控制律能够使路径跟踪误差收敛到零而且闭环系统状态有界;最后,通过仿真对比了所提出方法与已有方法的控制效果,仿真结果验证了所提出方法的有效性和优越性.
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| 关 键 词： | 制导向量场 路径跟踪 欠驱动飞艇 反步法 |
Planar path-following control for an under-actuated airship |
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| ZUO Zong-yu and WANG Xin-xin. Planar path-following control for an under-actuated airship[J]. Control and Decision, 2017, 32(6): 983-988 |
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| Authors: | ZUO Zong-yu and WANG Xin-xin |
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| Affiliation: | 1. School of Automation Science and Electrical Engineering,Beihang University,Beijing100191,China;2. The Seventh Research Division,Beihang University,Beijing100191,China and 1. School of Automation Science and Electrical Engineering,Beihang University,Beijing100191,China;2. The Seventh Research Division,Beihang University,Beijing100191,China |
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| Abstract: | A guidance vector field based path-following control method for an under-actuated airship is presented. Firstly, the under-actuated airship dynamic model is established based on Newton-Euler equations. Then the guidance vector field is constructed based on the vector field theory to obtain the desired yaw angle, and the path-following controller is proposed by using backstepping technique. It is proved that the proposed controller can make the airship track the desired path and the other closed-loop states are bounded. Finally, compared with an existing method, simulation results show the effectiveness and superiority of the proposed algorithm. |
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