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Stabilization of an underactuated bottom‐heavy airship via interconnection and damping assignment
Author(s) -
Cai Zili,
Qu Weidong,
Xi Yugeng,
Wang Yongjun
Publication year - 2007
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1187
Subject(s) - underactuation , passivity , interconnection , control theory (sociology) , hamiltonian (control theory) , rigid body , hamiltonian system , feedback control , planar , classical mechanics , computer science , physics , mathematics , engineering , control (management) , control engineering , mathematical optimization , computer network , computer graphics (images) , artificial intelligence , electrical engineering
This paper focuses on feedback stabilization of a neutrally buoyant and bottom‐heavy airship actuated by only five independent controls (with the rolling motion underactuated). The airship is modelled as an eudipleural submerged rigid body whose dynamics is formulated as a Hamiltonian system with respect to a Lie–Poisson structure. By exploiting the geometrical structure and using the so‐called interconnection and damping assignment (IDA) passivity‐based methodology for port‐controlled Hamiltonian systems, state feedback control laws asymptotically stabilizing two typical motions are designed via La Salle invariance principle and Chetaev instability theorem. Simulation results verify the control laws. Copyright © 2007 John Wiley & Sons, Ltd.