Path following control for a stratospheric airship with actuator saturation

Abstract

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.

Path Following Control for Underactuated Airships with Magnitude and Rate Saturation

“…T is the state, X 2 = [ψ, x, y] T is the measured output, and F = [F T , δ r ] T is the control input, where F T denotes the thrust force and δ r denotes the rudder deflection. The specific expressions of the variables above are described in Reference [9].…”

“…Due to the inherent dynamics nonlinearity, unknown dynamics, parametric uncertainty, and external disturbance, airship path following control becomes a challenging research topic [ 4 , 5 ]. Numerous achievements on the path following problems have been witnessed, employing various methods such as sliding mode control (SMC) [ 6 , 7 ], H-infinity [ 8 , 9 ], backstepping control [ 4 , 10 , 11 , 12 ], fuzzy control [ 13 , 14 , 15 , 16 , 17 , 18 ], and so forth. In Reference [ 19 ], a computationally efficient observer-based model predictive control (MPC) method is presented to achieve arbitrary path following for marine vessels.…”

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

“…Proof. According to equation (25), Calculate the accumulation from i = 1 to i = ∞. Then the following can be obtained…”

Control del par en motores de corriente directa por control de modelo interno (IMC)

“…La relevancia de eliminar el fenómeno de windup mediante un diseño adecuado del controlador es abordada en los trabajos de Ahmed and Iqbal (2017) que diseñan un controlador anti-windup para un actuador con entradas saturadas, obteniendo excelentes resultados en lo que se refiere a rendimiento. Otros casos de controladores "anti-windup" se implementan en aeronáutica como por ejemplo Ping, et al, (2017); Zheng, et al, (2017) ;Liu, et al, (2017b) mientras que en el control de sistemas eléctricos y de potencia se encuentran Oliveira, et al, (2017); Makrygiorgou and Alexandridis (2017). Más casos relacionados al control "anti-windup" se pueden ver en Akram, et al 2017; Liu, et al (2017a); Adegbege and Heath (2017); Singh, et al, (2017).…”