Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances
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 uncertaint...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-05-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/iet-its.2019.0195 |
| _version_ | 1811188659197575168 |
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| author | Liu Cui Yan Wei Yueying Wang |
| author_facet | Liu Cui Yan Wei Yueying Wang |
| author_sort | Liu Cui |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T14:22:18Z |
| format | Article |
| id | doaj.art-998f4518d54449468f7e600fd25711b4 |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-04-11T14:22:18Z |
| publishDate | 2020-05-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-998f4518d54449468f7e600fd25711b42022-12-22T04:19:00ZengWileyIET Intelligent Transport Systems1751-956X1751-95782020-05-0114544044810.1049/iet-its.2019.0195Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbancesLiu Cui0Yan Wei1Yueying Wang2School of Computer Science and Information Engineering, Shanghai Institute of TechnologyNo. 100, Haiquan RoadShanghaiPeople's Republic of ChinaSchool of Aeronautics and Astronautics, Shanghai Jiao Tong UniversityNo. 800, Dongchuan RoadShanghaiPeople's Republic of ChinaSchool of Mechatronic Engineering and Automation, Shanghai UniversityNo. 99, Shangda RoadShanghaiPeople's Republic of ChinaThis 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.https://doi.org/10.1049/iet-its.2019.0195stabilitytracking errorsLyapunov theoryDOBdynamics equationssix‐degree‐of‐freedom kinematics |
| spellingShingle | Liu Cui Yan Wei Yueying Wang Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances IET Intelligent Transport Systems stability tracking errors Lyapunov theory DOB dynamics equations six‐degree‐of‐freedom kinematics |
| title | Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances |
| title_full | Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances |
| title_fullStr | Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances |
| title_full_unstemmed | Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances |
| title_short | Finite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances |
| title_sort | finite time trajectory tracking control for autonomous airships with uncertainties and external disturbances |
| topic | stability tracking errors Lyapunov theory DOB dynamics equations six‐degree‐of‐freedom kinematics |
| url | https://doi.org/10.1049/iet-its.2019.0195 |
| work_keys_str_mv | AT liucui finitetimetrajectorytrackingcontrolforautonomousairshipswithuncertaintiesandexternaldisturbances AT yanwei finitetimetrajectorytrackingcontrolforautonomousairshipswithuncertaintiesandexternaldisturbances AT yueyingwang finitetimetrajectorytrackingcontrolforautonomousairshipswithuncertaintiesandexternaldisturbances |