TY - GEN
T1 - Spatial Trajectory Tracking of a Stratospheric Airship with Constraints
AU - Yuan, Jiace
AU - Zhu, Ming
AU - Chen, Lao
AU - Lou, Wenjie
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - This paper addresses the spatial trajectory tracking problem of a stratospheric airship in the presence of state constraint. A constrained Laguerre-based model predictive control (MPC) method integrated with sliding mode control (SMC) is proposed as the main control framework. First, by approximating the predicted control signal with Laguerre orthonormal basis functions, a linear MPC controller which is capable of dealing with the constraints explicitly is presented to track the predetermined trajectory based on the kinematic model of airship. Second, based on the dynamic model of airship, an SMC controller with a fast power rate reaching law (FPRRL) is designed to track the desired velocity calculated by the MPC controller. Furthermore, a command filter is employed to estimate the derivative of desired velocity. Stability analysis implies that the tracking error will converge to a small neighborhood of zero. Simulation validates the effectiveness of the proposed control scheme.
AB - This paper addresses the spatial trajectory tracking problem of a stratospheric airship in the presence of state constraint. A constrained Laguerre-based model predictive control (MPC) method integrated with sliding mode control (SMC) is proposed as the main control framework. First, by approximating the predicted control signal with Laguerre orthonormal basis functions, a linear MPC controller which is capable of dealing with the constraints explicitly is presented to track the predetermined trajectory based on the kinematic model of airship. Second, based on the dynamic model of airship, an SMC controller with a fast power rate reaching law (FPRRL) is designed to track the desired velocity calculated by the MPC controller. Furthermore, a command filter is employed to estimate the derivative of desired velocity. Stability analysis implies that the tracking error will converge to a small neighborhood of zero. Simulation validates the effectiveness of the proposed control scheme.
KW - model predictive control
KW - state constraint
KW - stratospheric airship
KW - trajectory tracking
UR - https://www.scopus.com/pages/publications/85091562315
U2 - 10.1109/CCDC49329.2020.9164479
DO - 10.1109/CCDC49329.2020.9164479
M3 - 会议稿件
AN - SCOPUS:85091562315
T3 - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
SP - 3951
EP - 3956
BT - Proceedings of the 32nd Chinese Control and Decision Conference, CCDC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd Chinese Control and Decision Conference, CCDC 2020
Y2 - 22 August 2020 through 24 August 2020
ER -