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Front. Inform. Technol. Electron. Eng.  2012, Vol. 13 Issue (7): 534-543    DOI: 10.1631/jzus.C1100371
    
Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control
Yue-neng Yang, Jie Wu, Wei Zheng
College of Aerospace and Materials Engineering, National University of Defense Technology, Changsha 410073, China
Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control
Yue-neng Yang, Jie Wu, Wei Zheng
College of Aerospace and Materials Engineering, National University of Defense Technology, Changsha 410073, China
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摘要： We present a novel control approach for trajectory tracking of an autonomous airship. First, the dynamics model and the trajectory control problem of an airship are formulated. Second, the sliding mode control law is designed to track a time-varying reference trajectory. To achieve better control performance, fuzzy adaptive sliding mode control is proposed in which the control gains are tuned according to fuzzy rules, and an adaptation law is used to guarantee that the control gains can compensate for model uncertainties of the airship. The stability of the closed-loop control system is proven via the Lyapunov theorem. Finally, simulation results illustrate the effectiveness and robustness of the proposed control scheme.
关键词： Trajectory control;  Sliding mode;  Fuzzy system;  Adaptation law;  Uncertainty;  External disturbance;  Airship    
Abstract: We present a novel control approach for trajectory tracking of an autonomous airship. First, the dynamics model and the trajectory control problem of an airship are formulated. Second, the sliding mode control law is designed to track a time-varying reference trajectory. To achieve better control performance, fuzzy adaptive sliding mode control is proposed in which the control gains are tuned according to fuzzy rules, and an adaptation law is used to guarantee that the control gains can compensate for model uncertainties of the airship. The stability of the closed-loop control system is proven via the Lyapunov theorem. Finally, simulation results illustrate the effectiveness and robustness of the proposed control scheme.
Key words: Trajectory control    Sliding mode    Fuzzy system    Adaptation law    Uncertainty    External disturbance    Airship
收稿日期: 2011-12-16 出版日期: 2012-07-06
CLC:  TP273  
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Yue-neng Yang
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Yue-neng Yang, Jie Wu, Wei Zheng. Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control. Front. Inform. Technol. Electron. Eng., 2012, 13(7): 534-543.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1100371    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2012/V13/I7/534

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