Command-filtered backstepping control for a multi-vectored thrust stratospheric airship

Abstract

A stratospheric airship is an airship flying at a high altitude of 20 km as a stratospheric platform. Due to the low atmospheric density and flight speed, the efficiency of a conventional actuator, such as an aerodynamic control surface, is decreased. Thus, a new multi-vectored thrust airship called a flat peach is discussed in this paper. This article describes the derivation, design and simulation implementation of a non-linear controller for an airship with multi-vector thrust. The controller is designed using a command-filtered, vector backstepping approach, and can set the airship track three Cartesian positions [Formula: see text] and yaw angle to their desired values and stabilize the pitch and roll angles. The controller is non-linear to address the kinematics and airship dynamics. The approach guarantees exponential stability of a compensated tracking error in the sense of Lyapunov. Both the stability analysis and simulation results are included.

Neuroadaptive output-feedback trajectory tracking control for a stratospheric airship with prescribed performance

“…The PID control algorithm (3) was developed to perform five flight operating modes: launching, cruising, turning, hovering, and landing. Based on a commandfiltered and back-stepping methodology, Ding et al (8) proposed a nonlinear controller to force an airship to move along a desired trajectory under a time-invariant wind field. Together with nonsingular terminal sliding mode control approach, a robust nonlinear trajectory tracking control law (28) that involves neural networks (NNs) approximation was proposed for an airship.…”

Trajectory Tracking Control for a Stratospheric Airship Subject to Constraints and Unknown Disturbances

“…[13] proposed a vectorial backstepping tracking controller with control allocation to deal with input saturation. In order to avoid computing the derivatives of the virtual control command, the author of [14] designed a command-filtered backstepping controller for a multi-vectored thrust stratospheric airship. However, in the conventional backstepping method, the velocity control law of airship is directly related to the position tracking errors.…”

“…1) Compared with backstepping based method [12], [14], the speed jump problem under large error condition is avoided by applying the MPC method with proper constraints. Compared with the discrete MPC controller [43] and the nonlinear MPC controller [44], the proposed LMPC controller reduces the computational complexity by decreasing the quantity of optimization variables.…”

Non-adaptive velocity tracking controller for a class of vehicles

“…Tracking controllers useful for marine vessels are described also in [16][17][18][19][20]. Referring to the airship trajectory tracking problem control algorithms are shown, e.g., in [21][22][23][24].…”