Title :
Three dimension path following control of Unmanned Airship based on H∞ robust adaptive method
Author :
Ge Hui ; Jing Zhongliang
Author_Institution :
Sch. of Aeronaut. & Astronaut., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
The 3D path following control of Unmanned Airship th uncertain model and unknown disturbance is investigated. Specific to this problem, first, the time singular perturbation method and orthogonal projection reference frame are used in modeling the centroid motion and attitude motion of the Unmanned Airship into an affine nonlinear system. Next, the network H∞ robust adaptive control method is used in the controller design to overcome uncertain of the model and the influence of external disturbances, at the same time, dominant input idea is used to reduce the complexity of the closed loop. The stability of the system is proved using Lyaponov stability theory. Simulation indicates that the path following controller could guarantee the motion of Unmanned Airship along the prescribed path with well performance.
Keywords :
H∞ control; Lyapunov methods; adaptive control; aircraft control; attitude control; closed loop systems; motion control; path planning; remotely operated vehicles; robust control; singularly perturbed systems; uncertain systems; 3D path following control; H∞ robust adaptive control method; Lyaponov stability theory; affine nonlinear system; attitude motion; centroid motion; closed loop system; orthogonal projection reference frame; time singular perturbation method; uncertain model; unknown disturbance; unmanned airship; Adaptation models; Atmospheric modeling; Electronic mail; MIMO; Robustness; Stability analysis; Three dimensional displays; 3D path following; Serret-Frenet frame; Unmanned Airship; attitude loop; centroid loop; network;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
