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

Abstract

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.