Airship horizontal trajectory tracking control based on Active Disturbance Rejection Control (ADRC)

Zhu, Enwen; Jinfeng, Pang; Sun, Na; Gao, Haitao; Sun, Qinglin; Chen, Zengqiang

doi:10.1007/s11071-013-1099-x

Cited by 139 publications

(70 citation statements)

References 10 publications

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“…(6) where A aw = A + B 2 (I − L) −1 K, B aw = B 2 (I − L) −1 , C aw = (I − L) −1 C 2 , D aw = (I − L) −1 D 22 , K and L are parameters of anti-windup compensator which will be solved later; the outputs of MRAW compensator are y aw and v aw ; and sat(µ) represents the control variable saturation:…”

Section: Design Of Model Recovery Anti-windup Compensatormentioning

confidence: 99%

See 1 more Smart Citation

Disturbance Rejection Based Path Following Control for A Stratospheric Airship with Actuator Saturation

Yan

Zheng

Zhu

et al. 2015

22nd AIAA Lighter-Than-Air Systems Technology Conference

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This paper proposes a control scheme of disturbance rejection based path following for a stratospheric airship with actuator saturation. Firstly, the path following control algorithm is designed according to line-of-sight guidance. Secondly, without concerning the input constrains, the robust H∞ controller is designed based on a planar model of the stratospheric airship. Then, the input constrains are taken into account and model recovery anti-windup (MRAW) compensator is designed and used in stratospheric airship. The proposed method can minimize the influence of external disturbances, keep the unconstrained controller from misbehaving in the constrained closed loop with anti-windup augmentation and ensure the systematic stability. Finally, simulation results show the effectiveness of the proposed method.

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Section: Design Of Model Recovery Anti-windup Compensatormentioning

confidence: 99%

“…To realize disturbance rejection, an active disturbance rejection control algorithm is designed for airship horizontal model in literature [6]. A method to design an optimal disturbance rejection PID controller is presented in literature [7].…”

Section: Introductionmentioning

confidence: 99%

Disturbance Rejection Based Path Following Control for A Stratospheric Airship with Actuator Saturation

Yan

Zheng

Zhu

et al. 2015

22nd AIAA Lighter-Than-Air Systems Technology Conference

View full text Add to dashboard Cite

show abstract

“…Moreover, ADRC has already demonstrated its effectiveness in many fields. [20][21][22][23][24][25][26][27][28][29][30][31] In this paper, the intrinsic characteristics of the flight mechanics are well utilized to design a novel feed-forwardfeedback control framework such that high flight path control performance can be achieved for hypersonic flight. The feedforward channel feeds the flight path reference straightforwardly to the pitch control loop where the major control component can be generated in an efficient way.…”

Section: Introductionmentioning

confidence: 99%

Practical Solution to Efficient Flight Path Control for Hypersonic Vehicles

Sun

Wang

et al. 2016

Trans. Japan Soc. Aero. S Sci.

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There is a severe lag between the pitch attitude and flight path angle of hypersonic vehicles, imposing extraordinary difficulty in achieving high-precision trajectory control. A comprehensive flight path regulation scheme is proposed to resolve this problem. The inherent relationship between the pitch attitude and flight path angle is sufficiently used to establish a feed-forward control framework where the flight path reference is directly fed into the attitude loop in order to quickly obtain the major control component. To achieve efficient tracking, an attitude control method based on active disturbance rejection control (ADRC) is proposed. The new attitude control method utilizes an extended state observer (ESO) to estimate the unknown model dynamics and external disturbances. The remaining part of control is generated by ADRC acting on the flight path angle, which plays a complementary role. The stability margin tester is used to tune the attitude controller explicitly. Finally, simulation examples are provided to demonstrate the effectiveness of the proposed method.

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“…Furthermore, dynamic inversion technology [13,14] and backstepping technology [15,16] have been applied to the autonomous airship based on its nonlinear model. In addition to stabilization control, the trajectory tracking [17,18] and pathfollowing control [19] driving the position of airship to a desired time-varying trajectory should be studied, and the airship can be controlled to perform the cruising flight [20][21][22] and station-keeping tasks [23][24][25]. For the cruising flight task, a straight-line trajectory can be designed, and the trajectory tracking controller achieves line tracking to perform the monitoring and transporting applications simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear adaptive trajectory tracking control for a stratospheric airship with parametric uncertainty

Sun

Zheng

2015

Nonlinear Dyn

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A nonlinear adaptive trajectory tracking control strategy is proposed for a fully actuated stratospheric airship subject to uncertain mass and inertia parameters. Based on the stratospheric airship trajectory tracking model, a non-certainty equivalence adaptive control approach is adopted to estimate the uncertain parameters since its excellently attractive property of the immersion and invariance manifold condition.The key idea involves a new filter construction for the regressor terms in the airship dynamics that enables the establishment of a stabilizing mechanism within the adaption process for uncertain parameters. It is proved that trajectory tracking errors asymptotically converge to zero within the Lyapunov framework. Numerical simulations are presented to demonstrate the performance of the proposed controller.

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Airship horizontal trajectory tracking control based on Active Disturbance Rejection Control (ADRC)

Cited by 139 publications

References 10 publications

Disturbance Rejection Based Path Following Control for A Stratospheric Airship with Actuator Saturation

Disturbance Rejection Based Path Following Control for A Stratospheric Airship with Actuator Saturation

Practical Solution to Efficient Flight Path Control for Hypersonic Vehicles

Nonlinear adaptive trajectory tracking control for a stratospheric airship with parametric uncertainty

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