Finite-time path following control for a stratospheric airship with input saturation and error constraint
This paper addresses the finite-time path following control problem for an under-actuated stratospheric airship with input saturation, error constraint, and external disturbances. To handle the adverse effect of input saturation, anti-windup compensators are employed and finite-time convergence of t...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Online Access: | https://hdl.handle.net/10356/151371 |
| _version_ | 1811687000849252352 |
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| author | Zheng, Zewei Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Zheng, Zewei Xie, Lihua |
| author_sort | Zheng, Zewei |
| collection | NTU |
| description | This paper addresses the finite-time path following control problem for an under-actuated stratospheric airship with input saturation, error constraint, and external disturbances. To handle the adverse effect of input saturation, anti-windup compensators are employed and finite-time convergence of the saturated control solution is established. Error constraints of airship position and attitude are handled by incorporating a tan-type barrier Lyapunov function (TBLF) in guidance and attitude control schemes. Backstepping design is presented with the anti-windup compensators, the TBLF, and nonlinear disturbance observers which estimate the external disturbances. Stability analysis shows that the tracking errors of the airship position converge into a small set around zero within finite-time, the constrained requirements on the airship position and attitude are not violated during operation, and all closed-loop signals are guaranteed to be uniformly ultimately bounded. Compared with the conventional control scheme, simulation results illustrate that the proposed finite-time controller offers a faster convergence rate and a higher path following accuracy for the stratospheric airship. |
| first_indexed | 2024-10-01T05:09:22Z |
| format | Journal Article |
| id | ntu-10356/151371 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:09:22Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1513712021-06-15T03:23:18Z Finite-time path following control for a stratospheric airship with input saturation and error constraint Zheng, Zewei Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Stratospheric Airship Finite-time Control This paper addresses the finite-time path following control problem for an under-actuated stratospheric airship with input saturation, error constraint, and external disturbances. To handle the adverse effect of input saturation, anti-windup compensators are employed and finite-time convergence of the saturated control solution is established. Error constraints of airship position and attitude are handled by incorporating a tan-type barrier Lyapunov function (TBLF) in guidance and attitude control schemes. Backstepping design is presented with the anti-windup compensators, the TBLF, and nonlinear disturbance observers which estimate the external disturbances. Stability analysis shows that the tracking errors of the airship position converge into a small set around zero within finite-time, the constrained requirements on the airship position and attitude are not violated during operation, and all closed-loop signals are guaranteed to be uniformly ultimately bounded. Compared with the conventional control scheme, simulation results illustrate that the proposed finite-time controller offers a faster convergence rate and a higher path following accuracy for the stratospheric airship. This work was supported in part by the National Natural Science Foundation of China [grant number 61503010], [grant number 61673034]; Aeronautical Science Foundation of China [grant number 2016ZA51001]; National Key R&D Program of China [grant number 2016YFB1200100]; Fundamental Research Funds for the Central Universities [grant number YWF-16-GJSYS-02]. The work of Zewei Zheng was supported by the China Scholarship Council [grant number 201606025076]. 2021-06-15T03:23:18Z 2021-06-15T03:23:18Z 2019 Journal Article Zheng, Z. & Xie, L. (2019). Finite-time path following control for a stratospheric airship with input saturation and error constraint. International Journal of Control, 92(2), 368-393. https://dx.doi.org/10.1080/00207179.2017.1357839 0020-7179 0000-0001-9412-4271 https://hdl.handle.net/10356/151371 10.1080/00207179.2017.1357839 2-s2.0-85027007926 2 92 368 393 en International Journal of Control © 2017 Informa UK Limited, trading as Taylor & Francis Group. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Stratospheric Airship Finite-time Control Zheng, Zewei Xie, Lihua Finite-time path following control for a stratospheric airship with input saturation and error constraint |
| title | Finite-time path following control for a stratospheric airship with input saturation and error constraint |
| title_full | Finite-time path following control for a stratospheric airship with input saturation and error constraint |
| title_fullStr | Finite-time path following control for a stratospheric airship with input saturation and error constraint |
| title_full_unstemmed | Finite-time path following control for a stratospheric airship with input saturation and error constraint |
| title_short | Finite-time path following control for a stratospheric airship with input saturation and error constraint |
| title_sort | finite time path following control for a stratospheric airship with input saturation and error constraint |
| topic | Engineering::Electrical and electronic engineering Stratospheric Airship Finite-time Control |
| url | https://hdl.handle.net/10356/151371 |
| work_keys_str_mv | AT zhengzewei finitetimepathfollowingcontrolforastratosphericairshipwithinputsaturationanderrorconstraint AT xielihua finitetimepathfollowingcontrolforastratosphericairshipwithinputsaturationanderrorconstraint |