Command Filtered Adaptive Backstepping Control for Airships

doi:10.16183/j.cnki.jsjtu.2017.08.003

Abstract

Abstract: As stratospheric platforms, stratospheric airships are generally so large, it is difficult for them to land back on ground accurately after their tasks. Consequently, the control problem of airship landing with system uncertainties and external disturbances is considered. A sixdegreeoffreedom airship model is used, and a command filtered modified backstepping control law combined with adaptive theory is designed based on Lyapunov theory. The command filter and the improved backstepping algorithm can deal with the uncertainties in both dynamic errors and the external disturbances. Numerical simulation results demonstrate good performance for the landing of the airship even under wind condition.

Key words: airship; adaptive; backstepping control; command filter; Lyapunov theory; automatic landing

CLC Number:

V 411.8

HAN Ding,WANG Xiaoliang,CHEN Li,DUAN Dengping. Command Filtered Adaptive Backstepping Control for Airships[J]. Journal of Shanghai Jiao Tong University, 2017, 51(8): 909-914.

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