Nonlinear backstepping control for an underactuated airship

Name: Nonlinear backstepping control for an underactuated airship
Brand: LAP Lambert Academic Publishing
SKU: 9786202059800
Price: 172.46 RON
Availability: InStock

Autor: Liu Shiqian, Wang Yong

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Legare: Carte broșată

Editura: LAP Lambert Academic Publishing

Disponibilitate: În depozitul extern

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172.46 lei

This book proposes a new trajectory tracking control approach for an underactuated stratospheric air...

Informații despre carte

Autor

Liu Shiqian, Wang Yong

Limbă

engleză

Legare

Carte - Carte broșată

Publicat

2017

Pagini

EAN

9786202059800

Enbook ID

18384237

Editura

LAP Lambert Academic Publishing

Greutate

Dimensiuni

150 x 220 x 3

Descriere completă

This book proposes a new trajectory tracking control approach for an underactuated stratospheric airship. There is a two-level structure of the proposed controller. A low-level controller based on nonlinear backstepping method, with the rigid body dynamics expressed on vector form, stabilizes the attitude and velocity of the airship, while a high-level controller performs guidance and trajectory tracking task in the three dimensional (3-D) space. Furthermore, a control allocation module based on active set algorithm is incorporated into the low-level controller to optimize the practical control inputs under constraints of actuator saturation. The closed-loop trajectory tracking control plant is proved to be globally exponentially stable through Lyapunov theory. Finally, simulations show that nonlinear backstepping trajectory tracking controller can achieve desired tracking performances even if the airship is affected by time delay inputs and exogenous disturbances.

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Nonlinear backstepping control for an underactuated airship

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Descriere completă

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