自治飞艇直接自适应模糊路径跟踪控制  

Direct-adaptive fuzzy path following control for an autonomous airship

作　　者：郑泽伟[1,2] 霍伟[1,3] 武哲[2] 

机构地区：[1]北京航空航天大学控制一体化技术国家级科技重点实验室,北京100191 [2]北京航空航天大学航空科学与工程学院,北京100191 [3]北京航空航天大学第七研究室,北京100191

出　　处：《控制与决策》2014年第3期418-424,共7页Control and Decision

基　　金：国家自然科学基金项目(61074010;61203022);中国博士后科学基金项目(2013M540840)

摘　　要：针对具有模型不确定和未知外部干扰的自治飞艇,提出了直接自适应模糊路径跟踪控制方法.该方法由路径跟踪控制和自适应模糊控制两部分组成.首先基于飞艇的平面运动模型设计路径跟踪控制律,包括制导律计算、偏航角跟踪和速度控制3部分;然后构造直接自适应模糊控制器逼近路径跟踪控制律中的不确定项.稳定性分析证明所设计的控制律能使飞艇跟踪给定的期望路径,跟踪误差收敛到原点的小邻域内.仿真结果验证了所提出方法的有效性.A direct-adaptive fuzzy path following control method for an autonomous airship is presented, which comprises path following control and adaptive fuzzy control. Firstly, based on the planar dynamic model of the airship, the path following control is designed consisting of guidance law, yaw tracking and velocity control. Then, a direct-adaptive fuzzy controller is constructed to approximate the unknown terms caused by system model uncertainties and external disturbances. It is proved that the proposed controller can make the airship track the desired path and force the tracking error to converge to a small neighborhood of the origin. Simulation results show the effectiveness of the proposed method.

关 键 词：自治飞艇 路径跟踪 自适应模糊 反步法 

分 类 号：V274[航空宇航科学与技术—飞行器设计]