Fault-tolerant tracking control for a multi-vectored thrust ellipsoidal airship using adaptive integral sliding mode approach

Abstract

This paper addresses the position and attitude tracking control problem for a recently designed ellipsoidal airship with four vectored thrusters. External disturbances, thruster faults, mass matrix and aerodynamic coefficient uncertainties, which are inevitably encountered in practice, can deteriorate the control system performance of airship and even lead to system instability. To meet these challenges, we develop an adaptive integral sliding mode control method without requiring the prior knowledge of mass matrix and aerodynamic coefficients, in which these uncertainties and faults are considered simultaneously. We showed that the three Cartesian positions and three Euler attitude angles could globally asymptotically track the desired values in the face of external disturbances, thruster faults, mass matrix and aerodynamic coefficient uncertainties. Simulation results validate the effectiveness and advantage of proposed methods.

Robust Fuzzy MPC for Station-keeping of A Multi-vectored Propeller Airship Based on Path Following Method

“…In this section, the method proposed in this paper is verified by a multi-vectored propeller airship using simulations in MATLAB. In the following simulations, the parameters of the airship can be seen in [27], and the initial state of the airship is all zeros, the desired station-keeping position is [200,200]m, and the wind velocity is given as [5, 0, 0]m/s. The sampling interval of the discrete model is T s = 0.1s.…”

Airship aerodynamic model estimation using unscented Kalman filter

“…The reduced nonlinear models are obtained by making the modelling assumption that effects of roll rate, pitch rate, and vertical velocity on airship planar motion are negligible. In [12,13], an attitude controller and a yaw controller were designed based on reduced attitude and yaw control models respectively. Performance of the controller using reduced nonlinear control models degrades under abrupt disturbances and if the made assumptions are violated.…”

Gyroscope fault accommodation based on dedicated Kalman filters

“…[2][3][4][5][6][7][8] Some scholars have devoted to the fault diagnosis and fault-tolerant control in aerospace engineering. [9][10][11][12] In general, the fault diagnosis and fault-tolerant control methods can be classified into the model-based methods and the model-free methods. The model-based methods use analytical models to generate residuals for fault detection and isolation.…”