论文标题
强大的3D跟踪控制不足的自治飞艇
Robust 3D tracking control of an underactuated autonomous airship
论文作者
论文摘要
该论文为在3D空间中的位置轨迹跟踪提出了一种新的，可靠的控制算法，该算法专门用于飞行量不足的飞艇。为了考虑此类车辆的实际特征，并反映实际动机的约束，该算法假定了一个不确定的系统动力学模型。由于引入了辅助跟踪误差，因此以统一的方式解决了跟踪问题，而不会将其分为2D空间中考虑的子任务。 提出的控制器基于滑动模式方法。使用Lyapunov定理研究其稳定性。进行数值模拟是为了验证飞艇通用模型的闭环系统的性质。 使用原型飞艇在各种情况下通过实验检查控制系统的性能。获得的结果表明，在实践中满足了控制目标，以合理的精度满足。此外，可以证明控制器对控制回路中的某些有界的添加剂测量扰动和延迟具有鲁棒性。
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically motivated constraints, the algorithm assumes a highly uncertain system dynamics model. The tracking problem is solved in a uniform way, without dividing it into subtasks considered in 2D spaces, thanks to the introduction of an auxiliary tracking error. The proposed controller is based on the sliding mode approach. Its stability is investigated using Lyapunov theorem. Numerical simulations are conducted in order to verify properties of a closed-loop system for a generic model of the airship. Performance of the control system is examined via experiments in various scenarios using a prototype airship. The obtained results indicate that the control objectives are satisfied in practice with a reasonable accuracy. Moreover, it is shown that the controller is robust to some bounded additive measurement perturbations and delays in the control loop.
