@inproceedings{29342065a4144924ae339e6de570c13b,
title = "Path-Following Control for an Under-actuated Airship Based on Serret-Frenet Frame",
abstract = "This paper addresses a new planar path-following control design for an under-actuated airship. First, the path-following error dynamics expressed in the Serret-Frenet frame is established and the desired attitude is prescribed carefully for the inner-loop design. Then, the attitude stabilization controller is proposed to achieve the desired attitude commands, and therefore the path-following errors are eliminated. To avoid the involved zero dynamics analysis for the sway velocity, a new velocity tracking control strategy is proposed by aligning the resultant velocity of the surge and the sway velocity tangent to the path. Finally, the simulation results of an under-actuated airship are shown to verify the effectiveness of the proposed method.",
keywords = "Back-stepping, Path-following, Under-actuated airship",
author = "Lin Cheng and Zongyu Zuo",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483563",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "9934--9939",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "美国",
}