Open AccessFinite‐time trajectory tracking control for autonomous airships with uncertainties and external disturbances
Author(s) -
Cui Liu,
Wei Yan,
Wang Yueying
Publication year - 2020
Publication title -
iet intelligent transport systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.579
H-Index - 45
eISSN - 1751-9578
pISSN - 1751-956X
DOI - 10.1049/iet-its.2019.0195
Subject(s) - control theory (sociology) , backstepping , trajectory , controller (irrigation) , kinematics , lyapunov stability , convergence (economics) , tracking (education) , observer (physics) , lyapunov function , control engineering , stability (learning theory) , engineering , computer science , control (management) , nonlinear system , adaptive control , physics , artificial intelligence , psychology , pedagogy , classical mechanics , quantum mechanics , machine learning , agronomy , economics , biology , economic growth , astronomy
This study addresses the finite‐time tracking control problem for autonomous airships with uncertainties and external disturbances. Six‐degree‐of‐freedom kinematics and dynamics equations are established by considering the model uncertainties and external disturbances. To handle the model uncertainties and external disturbances, a finite‐time sliding mode disturbance observer (DOB) is designed. To have a good tracking performance, a finite‐time command‐filtered backstepping‐supertwisting controller is proposed with DOB. By using Lyapunov theory, the finite‐time convergence of tracking errors and the stability of the control method is proved. Finally, the simulation results show that the controller can track the desired trajectory well in spite of model uncertainties and external disturbances.