Stabilization and trajectory tracking of autonomous airship's planar motion  

作　　者：Zhang Yan Qu Weidong Xi Yugeng Cai Zili 

机构地区：[1]Dept. of Automation, Shanghai Jiaotong Univ., Shanghai 200240, P. R. China [2]GE (China) Research and Development Center Co., Ltd, Shanghai 201203, P. R. China

出　　处：《Journal of Systems Engineering and Electronics》2008年第5期974-981,共8页系统工程与电子技术（英文版）

摘　　要：The stabilization and trajectory tracking problems of autonomous airship＇s planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed.The stabilization and trajectory tracking problems of autonomous airship＇s planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed.

关 键 词：AIRSHIP planar motion STABILIZATION trajectory tracking ROBUSTNESS Lyapunov stability Matrosov theorem. 

分 类 号：V27[航空宇航科学与技术—飞行器设计]