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浙江大学学报(工学版)  2017, Vol. 51 Issue (7): 1412-1420    DOI: 10.3785/j.issn.1008-973X.2017.07.020
周华, 陈丽, 段登平
上海交通大学 航空航天学院, 上海 200240
Sliding mode control of trajectory tracking for underactuated aerostat
ZHOU Hua, CHEN Li, DUAN Deng-ping
School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China
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An adaptive sliding mode control method was presented for the trajectory tracking problem of the fin-less underactuated aerostat driven by two propellers considering the actuators saturation, the unknown parts of the system and wind disturbance. A three-degree-of-freedom dynamic model of the aerostat was constructed. Then the inner and outer loop control laws were designed. The outer loop was used for arranging the transient dynamics of the trajectory and setting the differential signal. A virtual trajectory was designed and acted as the target signal. The control law presented in the inner loop was developed by introducing a first-order sliding surface in terms of forward speed tracking errors and a second-order sliding surface in terms of lateral motion tracking errors. The thrust and moment of aerostat can be calculated. An adaptive sliding mode controller was developed to estimate and compensate the upper layer of disturbance in order to reduce the chattering of actuators and increase the ability to resistance disturbance. The effectiveness and robustness of the control method were demonstrated by computer simulation with the aerostat designed by Shanghai Jiaotong University.

收稿日期: 2016-06-15 出版日期: 2017-07-08
CLC:  V411  


通讯作者: 陈丽,女,副教授,博士后.ORCID:0000-0002-8120-5758.     E-mail:
作者简介: 周华(1992—),男,硕士生,从事飞行器控制的研究
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周华, 陈丽, 段登平. 基于滑模变结构的欠驱动浮空器轨迹跟踪控制[J]. 浙江大学学报(工学版), 2017, 51(7): 1412-1420.

ZHOU Hua, CHEN Li, DUAN Deng-ping. Sliding mode control of trajectory tracking for underactuated aerostat. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(7): 1412-1420.


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