TY - GEN
T1 - Model predictive control for path following of stratospheric airship with magnitude and rate constrains of rudder
AU - Zhu, Ming
AU - Yu, Shuaixian
AU - Zheng, Zewei
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/17
Y1 - 2015/7/17
N2 - This paper presents an effective path following control method for an under-actuated stratospheric airship with rudder constraints. Firstly, dynamic model of the stratospheric airship is described by kinematics and dynamics equations which the controller design is based on. During the movement of stratospheric airship, magnitude and rate of rudder are constrained. Then, the path following controller for the stratospheric airship with magnitude and rate constrains of rudder is designed based on the Guidance-Based Path Following (GBPF) principle and the Model Predictive Control (MPC) theory. The MPC scheme can handle constraints explicitly. Finally, the simulation results are presented to illustrate that the stratospheric airship can converge to a desired path while the inputs and input increments are less than the limits.
AB - This paper presents an effective path following control method for an under-actuated stratospheric airship with rudder constraints. Firstly, dynamic model of the stratospheric airship is described by kinematics and dynamics equations which the controller design is based on. During the movement of stratospheric airship, magnitude and rate of rudder are constrained. Then, the path following controller for the stratospheric airship with magnitude and rate constrains of rudder is designed based on the Guidance-Based Path Following (GBPF) principle and the Model Predictive Control (MPC) theory. The MPC scheme can handle constraints explicitly. Finally, the simulation results are presented to illustrate that the stratospheric airship can converge to a desired path while the inputs and input increments are less than the limits.
KW - Guidance-Based Path following
KW - Model Predictive Control
KW - Rudder Constraints
KW - Stratospheric Airship
UR - https://www.scopus.com/pages/publications/84945542553
U2 - 10.1109/CCDC.2015.7162518
DO - 10.1109/CCDC.2015.7162518
M3 - 会议稿件
AN - SCOPUS:84945542553
T3 - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
SP - 3444
EP - 3449
BT - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th Chinese Control and Decision Conference, CCDC 2015
Y2 - 23 May 2015 through 25 May 2015
ER -