Paper Info
Title
Robust control of an uncertain underactuated airship with asymptotic rejection against wind disturbance
Abstract
This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators in the presence of a unknown persistent wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation is proposed to reduce the disturbance rejection problem of the airship to that of a simple linear time-invariant system. A new adaptive robust feedback controller provides global stabilization and asymptotical rejection against the unknown wind disturbance under the plant uncertainties. The proposed design method is simple and straightforward. Some flight simulations using a real blimp are performed to validate the effectiveness of the proposed controller.
Year
DOI
Venue
2010
10.1109/CCA.2010.5611226
Control Applications
Keywords
Field
DocType
actuators,adaptive control,aerospace simulation,airships,asymptotic stability,control system synthesis,feedback,linear systems,nonlinear equations,robust control,time-varying systems,uncertain systems,wind,actuators,adaptive robust feedback controller,asymptotic rejection,asymptotical rejection,blimp,flight simulations,global stabilization,linear time-invariant system,nonholonomic system,nonlinear equations,orientation control,planar position control,robust control,time-varying coordinate transformation,uncertain underactuated airship,wind disturbance
Blimp,Control theory,Linear system,Computer science,Control theory,Control engineering,Exponential stability,Adaptive control,Underactuation,Robust control,Nonholonomic system
Conference
ISSN
ISBN
Citations 
1085-1992
978-1-4244-5363-4
0
PageRank 
References 
Authors
0.34
5
3
Name
Order
Citations
PageRank
Manabu Yamada143.18
Hiroki Adachi200.34
Yasuyuki Funahashi34211.27