DocumentCode :
582311
Title :
Planar geometric path following control for stratospheric airship
Author :
Ze-wei, Zheng ; Wei, Huo
Author_Institution :
Sci. & Technol. on Aircraft Control Lab., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
fYear :
2012
fDate :
25-27 July 2012
Firstpage :
4418
Lastpage :
4423
Abstract :
A novel planar geometric path following control method for an underactuated stratospheric airship is presented on the basis of dynamic inversion. The method consists of planar position tracking controller, velocity regulator, attitude and altitude stabilizators. The planar position tracking controller realizes the geometric path following control of the airship. For the velocity regulator, a weighted allocation between the linear and angular velocity is designed in consideration of the physical reality, which contributes to the directionality of path following and decreases the number of singularity points for the closed-loop system. In addition, the attitude and altitude stabilizators ensure the planar flight of airship. Finally, simulation results for the stratospheric airship to follow typical path are illustrated to verify effectiveness of the proposed method.
Keywords :
airships; attitude control; closed loop systems; position control; stability; vehicle dynamics; velocity control; altitude stabilizators; angular velocity; attitude stabilizators; closed-loop system; dynamic inversion; linear velocity; path following directionality; physical reality; planar flight; planar geometric path following control method; planar position tracking controller; singularity points; underactuated stratospheric airship; velocity regulator; weighted allocation; Aerodynamics; Aerospace control; Educational institutions; Electronic mail; Gold; Laboratories; Regulators; dynamic inversion; geometric path following; stratospheric airship; velocity allocation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
ISSN :
1934-1768
Print_ISBN :
978-1-4673-2581-3
Type :
conf
Filename :
6390702
Link To Document :
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