DocumentCode :
2222636
Title :
Robust Global Stabilization and Disturbance Rejection of an Underactuated Nonholonomic Airship
Author :
Yamada, Manabu ; Taki, Yasuhiro ; Katayama, Akira ; Funahashi, Yasuyuki
Author_Institution :
Nagoya Inst. of Technol., Nagoya
fYear :
2007
fDate :
1-3 Oct. 2007
Firstpage :
886
Lastpage :
891
Abstract :
This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators in the presence of a persistent wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation is proposed to reduce the disturbance rejection problem of the airship to that of a simple linear time-invariant system. A new robust feedback controller provides global stabilization and asymptotical rejection against the wind disturbance under the plant uncertainties. The proposed design method is simple and straightforward. Experiments are performed to validate the effectiveness of the proposed controller.
Keywords :
actuators; aircraft; feedback; linear systems; nonlinear systems; robust control; time-varying systems; actuators; asymptotical rejection; bounded uncertainties; disturbance rejection; linear time-invariant system; nonholonomic system; nonlinear equations; persistent wind disturbance; plant uncertainties; robust feedback controller; robust global stabilization; smooth coordinate transformation; time-varying coordinate transformation; underactuated airship; underactuated nonholonomic airship; Asymptotic stability; Control systems; Feedback; Linear systems; Marine vehicles; Robust control; Robustness; Time varying systems; Uncertainty; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0442-1
Electronic_ISBN :
978-1-4244-0443-8
Type :
conf
DOI :
10.1109/CCA.2007.4389345
Filename :
4389345
Link To Document :
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