Path Following Control for an Input Constrained Stratospheric Airship

Yang, Guizhi; Huo, Wei

doi:10.1007/978-981-16-6328-4_54

Cited by 3 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Linear quadratic regulator (LQR) and LQT are optimal control techniques developed on the concept of calculus of variations to compute the best control gains to achieve the optimal solution of the required cost function. These controllers are widely used for tracking various trajectories for airship missions [20,21,22,23].…”

Section: Introductionmentioning

confidence: 99%

Optimal Tracking Control for Underactuated Airship

Atyya

El-Bayoumi

Lotfy

2023

Preprint

View full text Add to dashboard Cite

Background: A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV)model. The LTV model is utilized to design a linear quadratic tracking (LQT) controller. Two scenarios of LQT are presented in this work according to assumed costates transformations to compute the LQT control law. Results: The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. It shows an acceptable error margin. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different transformations used in solving the differential Riccati equation (DRE). These controllers are tested by a sample trajectory to deduce the characteristics of each assumption. Finally, a hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. Conclusion: The first assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile. Whereas, the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied.

show abstract

Section: Introductionmentioning

confidence: 99%

Optimal Tracking Control for Underactuated Airship

Atyya

El-Bayoumi

Lotfy

2023

Preprint

View full text Add to dashboard Cite

show abstract

Path-following control of an underactuated stratospheric airship with unknown dynamics and external disturbances using time-delay control

Lin,

Zhou,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

In this paper, the path-following problem for an underactuated stratospheric airship with unknown dynamics and external disturbances has been studied. Vector field guidance is employed to fix the underactuated issue and generate desired heading. Time-delay control (TDC) is utilised to track desired states and estimate the model uncertain and disturbances using simple delayed states. To compensate time-delay estimation (TDE) errors, terminal sliding-mode is utilised and combined with TDC. The stability of the proposed controller is provided by using Lyapunov function. A numerical simulation is demonstrated to prove the performance of the proposed control algorithm.

show abstract

Optimal tracking control for underactuated airship

Atyya,

ElBayoumi,

Lotfy

2024

J. Eng. Appl. Sci.

View full text Add to dashboard Cite

A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance.

show abstract

Path Following Control for an Input Constrained Stratospheric Airship

Cited by 3 publications

References 15 publications

Optimal Tracking Control for Underactuated Airship

Optimal Tracking Control for Underactuated Airship

Path-following control of an underactuated stratospheric airship with unknown dynamics and external disturbances using time-delay control

Optimal tracking control for underactuated airship

Contact Info

Product

Resources

About