Spatial adaptive integral LOS path following control for an under-actuated stratospheric airship
作者单位：School of Aeronautic Science and EngineeringBeihang University The Seventh Research DivisionSchool of Automation Science and Electrical EngineeringBeihang University
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
基 金：supported by the National Natural Science Foundation of China(No.61503010) the Aeronautical Science Foundation of China(No.2016ZA51001) the Fundamental Research Funds for the Central Universities(No.YWF-16-GJSYS-02)
关 键 词：Stratospheric Airship Spatial Path Following Integral LOS Under-actuated
摘 要：Extending the adaptive integral LOS path following method from planar to spatial,this paper presents a novel spatial path following control method for an under-actuated stratospheric airship in the presence of unknown *** nonlinear dynamic model of the airship is first ***,the spatial adaptive integral LOS guidance method generates the desired attitude and estimates the *** backstepping and Lyapunov-based techniques are adopted to track the predefined attitude and *** final design of the control system consists of three parts:guidance loop,attitude control loop and velocity control *** analysis demonstrates that the closed-loop control system is ultimately *** results of the typical path are proposed to illustrate the effectiveness of the proposed control method.