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

2015 ◽  
Author(s):  
Keyu Yan ◽  
Zewei Zheng ◽  
Ming Zhu ◽  
Zhe Wu
Keyword(s):  
Disturbance Rejection ◽  
Actuator Saturation ◽  
Path Following ◽  
Stratospheric Airship ◽  
Path Following Control

Path following control for a stratospheric airship with actuator saturation

2016 ◽  
Vol 39 (7) ◽  
pp. 987-999 ◽  
Author(s):  
Zewei Zheng ◽  
Keyu Yan ◽  
Shuaixian Yu ◽  
Bing Zhu ◽  
Ming Zhu
Keyword(s):  
Attitude Control ◽  
Closed Loop ◽  
Actuator Saturation ◽  
Path Following ◽  
Stratospheric Airship ◽  
Closed Loop Systems ◽  
Path Following Control ◽  
Control Scheme ◽  
Control Schemes ◽  
Guidance Laws

This paper proposes two different path following control schemes for a stratospheric airship with actuator saturation. Each of the control schemes consists of a guidance loop and an attitude control loop. In both schemes, guidance laws are designed according to the line-of-sight guidance-based path following principle. In the first control scheme, a robust H∞ controller without constraints is designed based on the planar model of a stratospheric airship to stabilize path-following errors. The input constraints are then addressed by using a regional [Formula: see text]-based model recovery anti-windup compensator, which prevents the unconstrained controller from misbehaving in the constrained closed loop with anti-windup augmentation and ensures the systematic stability. In the second control scheme, model predictive control is applied to guarantee the path-following of the closed-loop system and explicitly address the magnitude and rate of rudders of the stratospheric airship. Theoretical results are illustrated by numerical simulations where both closed-loop systems are capable of following their desired paths and the constraints on control inputs are satisfied.

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