Finite-time trajectory tracking control for autonomous airships with uncertainties and external disturbances
Finite-time trajectory tracking control for autonomous airships with uncertainties and external disturbances
- New search for: Cui, Liu
- New search for: Wei, Yan
- New search for: Wang, Yueying
- New search for: Cui, Liu
- New search for: Wei, Yan
- New search for: Wang, Yueying
This study addresses the finite-time tracking control problem for autonomous airships with uncertainties and external disturbances. Six-degree-of-freedom kinematics and dynamics equations are established by considering the model uncertainties and external disturbances. To handle the model uncertainties and external disturbances, a finite-time sliding mode disturbance observer (DOB) is designed. To have a good tracking performance, a finite-time command-filtered backstepping-supertwisting controller is proposed with DOB. By using Lyapunov theory, the finite-time convergence of tracking errors and the stability of the control method is proved. Finally, the simulation results show that the controller can track the desired trajectory well in spite of model uncertainties and external disturbances.
Document information
Finite-time trajectory tracking control for autonomous airships with uncertainties and external disturbances
IET Intelligent Transport Systems ; 14 , 5 ; 440-448
2019-08-28
9 pages
Article (Journal)
Electronic Resource
English
finite-time command-filtered backstepping-supertwisting controller , stability , vehicle dynamics , variable structure systems , autonomous airships , uncertain systems , Lyapunov methods , DOB , six-degree-of-freedom kinematics , dynamics equations , observers , Lyapunov theory , model uncertainties , trajectory control , control nonlinearities , external disturbances , airships , autonomous aerial vehicles , finite-time convergence , finite-time trajectory tracking control , tracking errors , finite-time sliding mode disturbance observer
Metadata by IET is licensed under CC BY 3.0
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