TY - GEN
T1 - Path following control for a stratospheric airship with constrained control allocation
AU - Lv, Hui
AU - Zheng, Zewei
AU - Zhu, Ming
AU - Wu, Zhe
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/3
Y1 - 2016/8/3
N2 - A stratospheric airship with multiple actuators requires control allocation algorithm to meet the requirements of path following while respecting system constrains. This paper proposes a constrained control allocation method for the stratospheric airship on the basis of vector field path following controller. The control system is divided into two levels, path following and control allocation. Firstly, the high level controller is designed to generate the virtual control inputs to low lever controller. Secondly, the constrained control allocation is proposed to distribute the control command to every actuator. The constrained control allocation can be transformed into a convex quadratic programming problem which can be solved by a recurrent neural network. Finally, several simulations are given to prove the effectiveness of the control system.
AB - A stratospheric airship with multiple actuators requires control allocation algorithm to meet the requirements of path following while respecting system constrains. This paper proposes a constrained control allocation method for the stratospheric airship on the basis of vector field path following controller. The control system is divided into two levels, path following and control allocation. Firstly, the high level controller is designed to generate the virtual control inputs to low lever controller. Secondly, the constrained control allocation is proposed to distribute the control command to every actuator. The constrained control allocation can be transformed into a convex quadratic programming problem which can be solved by a recurrent neural network. Finally, several simulations are given to prove the effectiveness of the control system.
KW - Control Allocation
KW - Path Following
KW - Redundant Control System
KW - Stratospheric Airship
UR - https://www.scopus.com/pages/publications/84983750776
U2 - 10.1109/CCDC.2016.7531440
DO - 10.1109/CCDC.2016.7531440
M3 - 会议稿件
AN - SCOPUS:84983750776
T3 - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
SP - 2698
EP - 2704
BT - Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th Chinese Control and Decision Conference, CCDC 2016
Y2 - 28 May 2016 through 30 May 2016
ER -