Vectorial backstepping method–based trajectory tracking control for an under-actuated stratospheric airship

2017 ◽  
Vol 121 (1241) ◽  
pp. 916-939 ◽  
Author(s):  
S. Q. Liu ◽  
S. J. Gong ◽  
Y. X. Li ◽  
Z. R. Lu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Level Structure ◽  
Control Plant ◽  
Rigid Body Dynamics ◽  
Lyapunov Theory ◽  
Backstepping Method ◽  
Trajectory Tracking Control ◽  
Low Level ◽  
Stratospheric Airship

ABSTRACTA new trajectory tracking control approach for an under-actuated stratospheric airship is proposed. There is a two-level structure of the proposed controller. A low-level controller based on non-linear vectorial backstepping method, with the rigid-body dynamics expressed on vector form, stabilises the attitude and velocity of the airship, while a high-level controller performs guidance and trajectory tracking task in the three-dimensional (3D) space. Furthermore, a control allocation module based on the active set algorithm is incorporated into the low-level controller to optimise the practical control inputs under constraints of actuator saturation. The closed-loop trajectory tracking control plant is proved to be globally exponentially stable through the Lyapunov theory. Finally, simulations show that the vectorial backstepping trajectory tracking controller can achieve desired tracking performances even if the airship is affected by parametric uncertainties and exogenous disturbances.

scholarly journals Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

2021 ◽  
Vol 2021 ◽  
pp. 1-22
Author(s):  
Guangli Zhou ◽  
Yongming Yao ◽  
Huiying Liu ◽  
Xupeng Bai ◽  
Jianbo Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Linear Prediction ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Superior Performance ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Chattering Phenomenon ◽  
Attitude Tracking

In this paper, we presented a strategy for accurate trajectory tracking control of a quadrotor with unknown disturbances. To guarantee that the tracking errors of all system state variables converge to zero in finite time and eliminate the chattering phenomenon caused by the switching control action, a control strategy that combines linear prediction model of disturbances and fuzzy sliding mode control (SMC) based on logical framework with side conditions (LFSC) was designed. LFSC was applied for both position and attitude tracking of the quadrotor. Firstly, a linear prediction method was devised to minimize the effects of external disturbances. Secondly, a new fuzzy law was implemented to eliminate the chattering phenomenon. In addition, the stabilities of position and attitude were demonstrated by using Lyapunov theory, respectively. Simulation results and comprehensive comparisons demonstrated the superior performance and robustness of the proposed LFSC scheme in the case of external disturbances.

scholarly journals Construction of a WMR for Trajectory Tracking Control: Experimental Results

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
R. Silva-Ortigoza ◽  
C. Márquez-Sánchez ◽  
M. Marcelino-Aranda ◽  
M. Marciano-Melchor ◽  
G. Silva-Ortigoza ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Kinematic Model ◽  
Cubic Splines ◽  
Control Law ◽  
Level Control ◽  
Trajectory Tracking Control ◽  
Smooth Curves ◽  
Low Level ◽  
High Level

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position(x*,y*)and orientation(φ*). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data pointsx1*,y1*,…,xn*,yn*. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

scholarly journals Robust trajectory tracking control for unmanned surface vessels under motion constraints and environmental disturbances

2021 ◽  
pp. 147509022110396
Author(s):  
Ruo Zhang ◽  
Yuanchang Liu ◽  
Enrico Anderlini
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Navigation ◽  
Lyapunov Theory ◽  
Trajectory Tracking Control ◽  
Environmental Disturbances ◽  
Motion Constraints ◽  
Surface Vessels ◽  
Control Scheme ◽  
The Stability

To achieve a fully autonomous navigation for unmanned surface vessels (USVs), a robust control capability is essential. The control of USVs in complex maritime environments is rather challenging as numerous system uncertainties and environmental influences affect the control performance. This paper therefore investigates the trajectory tracking control problem for USVs with motion constraints and environmental disturbances. Two different controllers are proposed to achieve the task. The first approach is mainly based on the backstepping technique augmented by a virtual system to compensate for the disturbance and an auxiliary system to bound the input in the saturation limit. The second control scheme is mainly based on the normalisation technique, with which the bound of the input can be limited in the constraints by tuning the control parameters. The stability of the two control schemes is demonstrated by the Lyapunov theory. Finally, simulations are conducted to verify the effectiveness of the proposed controllers. The introduced solutions enable USVs to follow complex trajectories in an adverse environment with varying ocean currents.

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