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access icon free Planar path following control for stratospheric airship

  • Author(s): Zewei Zheng 1, 2  and  Wei Huo 1, 3
    • View affiliations
    • Affiliations: 1: Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, People's Republic of China;
      2: School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, People's Republic of China;
      3: The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100191, People's Republic of China
  • Source: Volume 7, Issue 2, 17 January 2013, p. 185 – 201
    DOI:  10.1049/iet-cta.2011.0462 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 31/07/2011, Accepted 09/11/2012, Revised 30/10/2012, Published

A novel planar path following control method for an underactuated stratospheric airship is presented in this study. Firstly, the Guidance-Based Path Following (GBPF) principle and the Trajectory Linearisation Control (TLC) theory are described. Then, dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Based on this model, a path following control strategy integrated GBPF principle and TLC theory is deduced. The designed control system possesses a cascaded structure which consists of guidance law subsystem, attitude control loop and velocity control loop. Stability analysis shows that the controlled closed-loop system is asymptotically stable. Finally, simulations for the stratospheric airship and flight experimental results for a low-altitude airship to follow typical paths are illustrated to verify effectiveness of the proposed approach.

Inspec keywords: linearisation techniques; control system synthesis; trajectory control; cascade systems; attitude control; asymptotic stability; velocity control; path planning; closed loop systems; airships

Other keywords: GBPF principle; closed loop system; kinematics equation; TLC theory; stability analysis; low-altitude airship; attitude control loop; planar path following control method; guidance-based path following principle; dynamics equation; trajectory linearisation control theory; cascaded structure; guidance law subsystem; path following control strategy; dynamic model; asymptotic stability; control system design; velocity control loop; underactuated stratospheric airship

Subjects: Spatial variables control; Velocity, acceleration and rotation control; Stability in control theory; Aerospace control; Control system analysis and synthesis methods

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