Open AccessFinite‐time spatial path following control for a robotic underactuated airship
Author(s) -
Zhou Weixiang,
Zhou Pingfang,
Wei Yan,
Duan Dengping
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.2019.0284
Subject(s) - backstepping , underactuation , control theory (sociology) , path (computing) , trajectory , computer science , control engineering , track (disk drive) , control (management) , engineering , adaptive control , artificial intelligence , physics , programming language , astronomy , operating system
This study presents a finite‐time spatial path following control method for a robotic underactuated airship subject to model uncertainties and external disturbances. A finite‐time path following approach is proposed by combining the backstepping approach with the terminal sliding mode control technique, and the upper bounds of model uncertainties and external disturbances are estimated by the designed adaptive laws. Compared with existing works on the path following control of airships, the algorithm presented in this study can guarantee the airship track a spatial predefined path in finite time in the presence of model uncertainties and external disturbances. Simulations are given to illustrate the effectiveness of the proposed path following control method.