| AIRSHIP ATTITUDE TRACKING SYSTEM |
| |
| 引用本文： | 王晓亮,单雪雄. AIRSHIP ATTITUDE TRACKING SYSTEM[J]. 应用数学和力学(英文版), 2006, 27(7): 919-926. DOI: 10.1007/s 10483-006-0707-y |
| |
| 作者姓名： | 王晓亮 单雪雄 |
| |
| 作者单位： | Department of Engineering Mechanics Shanghai Jiaotong University Shanghai 200030 P. R. China，Department of Engineering Mechanics Shanghai Jiaotong University Shanghai 200030 P. R. China |
| |
| 摘 要： | The attitude tracking control problem for an airship with parameter uncertainties and external disturbances was considered in this paper. The mathematical model of the airship attitude is a multi-input/multi-output uncertain nonlinear system. Based on the characteristics of this system, a design method of robust output tracking controllers was adopted based on the upper-bounds of the uncertainties. Using the input/output feedback linearization approach and Liapunov method, a control law was designed, which guarantees that the system output exponentially tracks the given desired output. The controller is easy to compute and complement. Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system.
|
| 关 键 词： | 飞艇 不确定非线性系统 反馈线性化 模拟 |
| 收稿时间： | 2004-03-13 |
| 修稿时间： | 2006-03-01 |
Airship attitude tracking system |
| |
| Xiao-liang Wang,Xue-xiong Shan. Airship attitude tracking system[J]. Applied Mathematics and Mechanics(English Edition), 2006, 27(7): 919-926. DOI: 10.1007/s 10483-006-0707-y |
| |
| Authors: | Xiao-liang Wang Xue-xiong Shan |
| |
| Affiliation: | Department of Engineering Mechanics, Shanghai Jiaotong University,Shanghai 200030, P. R. China |
| |
| Abstract: | The attitude tracking control problem for an airship with parameter uncertainties and external disturbances was considered in this paper. The mathematical model of the airship attitude is a multi-input/multi-output uncertain nonlinear system. Based on the characteristics of this system, a design method of robust output tracking controllers was adopted based on the upper-bounds of the uncertainties. Using the input/output feedback linearization approach and Liapunov method, a control law was designed, which guarantees that the system output exponentially tracks the given desired output. The controller is easy to compute and complement. Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system. |
| |
| Keywords: | airship uncertain nonlinear system feedback linearization simulation |
| 本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录！ |
| 点击此处可从《应用数学和力学(英文版)》浏览原始摘要信息 |
|
点击此处可从《应用数学和力学(英文版)》下载全文 |
