Positioning control for an unmanned airship using sliding mode control based on fuzzy approximation

Abstract

This paper addresses the positioning problem of an unmanned airship in the presence of parametric uncertainties and external disturbances. A sliding mode controller (SMC) based on fuzzy approximation is proposed that steers an airship to remain fixed over a desired position. First, the dynamic model of an airship is derived and formulated. Second, a SMC is designed to actualize positioning control under the assumption that the airship model is accurately known. However, the airship model is partially or totally unknown in practice. In order to solve this problem, a fuzzy logic system is used to approximate the unknown model of the airship, and an adaptive law is adopted to update the optimal parameters. The stability and convergence of the closed-loop controller is proven by using the Lyapunov stability theorem. Finally, the effectiveness and robustness of the proposed controller are demonstrated via simulation results. Contrasting simulation results indicate that the proposed controller promotes the control precise and has better performance against the SMC.

Trajectory tracking for robotic airships using sliding mode control based on neural network approximation and fuzzy gain scheduling

“…where η = [ P , Ω ] T , P = [ x , y , z ] T denotes the relative position with respect to the frame E, and Ω = [ ϕ , θ , ψ ] T denotes the attitude angles; 30 V = [ v , ω ] T and v = [ u , v , w ] T denote the linear velocities in the frame B, and ω = [ p , q , r ] T denotes the angular velocities about each axis of the frame B; 33 J 1 denotes the transformation matrix from frames B to E, and …”

“…According to Mueller and Paluzaek 30 and Yang et al, 31–34 the airship dynamics are formulated as follows…”

“…The detailed explanations of notations in equation (2) are available in Mueller and Paluzaek 30 and Yang et al 33…”

“…By adopting the sliding surface (5) and exponential reaching law (10), a SMC is designed as follows 33…”

Modeling and path-following control of a vector-driven stratospheric satellite

“…Sliding mode control is one of the most important approaches to handling systems with large uncertainties, nonlinearities, and bounded external disturbances (Zhihong et al, 1994). It has been used in the development of stratospheric aircraft control system in recent years (Yang et al, 2014;Yang and Yan, 2015;Yang et al, 2013Yang et al, , 2012. Chen et al (2013) presented a composite control structure for the stratospheric airship to realize accurate position control and to decrease energy consumption, which took the control allocation problem into consideration.…”