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Finite-time velocity-free trajectory tracking control for a stratospheric airship with preassigned accuracy

Published online by Cambridge University Press:  25 May 2022

Y. Wu ,
Q. Wang Open the ORCID record for Q. Wang [Opens in a new window]  and
D. Duan
Y. Wu
Affiliation:
School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai PR China
Q. Wang*
Affiliation:
School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai PR China
D. Duan
Affiliation:
School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai PR China
*
*Corresponding author. Email: quanbaowang@sjtu.edu.cn
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Abstract

This paper concentrates on the trajectory tracking problem for a stratospheric airship subject to underactuated dynamics, unmeasured velocities, modeling inaccuracies and environmental disturbances. First, a coordinate transformation is performed to solve the underactuated issue, which simultaneously permits a priori assignment of the tracking accuracy. Second, a finite-time observer is integrated into the control structure to offer the exact information of unmeasured velocities and uncertainties in an integral manner. Then, by combining the backstepping technique with the method of adding a power integrator, a new output-feedback control strategy is derived with several salient contributions: (1) the airship’s position errors fall into a predetermined residual region near zero within a finite settling time and stay there, while all the closed-loop signals maintain bounded during operation; and (2) no artificial neural networks and filters are adopted, resulting in a low-complexity control property. Furthermore, the presented method can be extended readily to a broad range of second-order mechanical systems as its design builds upon a transformed system model. Rigorous mathematical analysis and simulations demonstrate the above theoretical findings.

Keywords

Stratospheric airshipUnderactuationOutput feedbackFinite-time controlPreassigned accuracy
Type
Research Article
Information
The Aeronautical Journal , Volume 127 , Issue 1307 , January 2023 , pp. 139 - 162
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Copyright
© The Author(s), 2022. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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