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Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control
- Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control
- Frontiers of Information Technology & Electronic Engineering Vol. 13, Issue 7, Pages: 534-543(2012)
- Affiliations：
College of Aerospace and Materials Engineering, National University of Defense Technology, Changsha 410073, China
- Author bio：
Wei ZHENG, E-mail: zhengwei_nudt@163.com
- Funds：
DOI：10.1631/jzus.C1100371
CLC： TP273;V249Received：16 December 2011，
Revised：2012-;5-31，
Published：2012-07
- Accepted：
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Yue-neng YANG, Jie WU, Wei ZHENG. Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(7): 534-543.
Yue-neng YANG, Jie WU, Wei ZHENG. Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(7): 534-543. DOI： 10.1631/jzus.C1100371.
摘要
Abstract
We present a novel control approach for trajectory tracking of an autonomous airship. First
the dynamics model and the trajectory control problem of an airship are formulated. Second
the sliding mode control law is designed to track a time-varying reference trajectory. To achieve better control performance
fuzzy adaptive sliding mode control is proposed in which the control gains are tuned according to fuzzy rules
and an adaptation law is used to guarantee that the control gains can compensate for model uncertainties of the airship. The stability of the closed-loop control system is proven via the Lyapunov theorem. Finally
simulation results illustrate the effectiveness and robustness of the proposed control scheme.
关键词
Keywords
references
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