Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation  

作　　者：WASIM Muhammad ALI Ahsan CHOUDHRY Mohammad Ahmad SHAIKH Inam Ul Hasan SALEEM Faisal 

机构地区：[1]Department of Aeronautics and Astronautics Engineering,Institute of Space Technology,Islamabad 44000,Pakistan [2]Department of Electrical Engineering,University of Engineering and Technology,Taxila 47080,Pakistan [3]Department of Measurements and Control Systems,Silesian University of Technology,Gliwice 44-101,Poland [4]The Joint Doctoral School,Silesian University of Technology,Gliwice 44-100,Poland

出　　处：《Journal of Systems Engineering and Electronics》2024年第1期242-258,共17页系统工程与电子技术（英文版）

摘　　要：The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

关 键 词：AIRSHIP CHATTERING extended Kalman filter(EKF) model uncertainties estimation sliding mode controller(SMC) 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V274[自动化与计算机技术—控制科学与工程] V249[航空宇航科学与技术—飞行器设计]