Robust 3D Tracking Control of an Underactuated Autonomous Airship

The letter presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically motivated constraints, the algorithm assumes a highly uncertain sys...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-07, Vol.5 (3), p.4281-4288
Main Authors: Adamski, Wojciech, Pazderski, Dariusz, Herman, Przemyslaw
Format: Article
Language:English
Subjects:
Aerial systems: mechanics and control
Aerospace electronics
Airships
Algorithms
Atmospheric modeling
Autonomous aerial vehicles
Computer simulation
Control algorithms
Control stability
Control theory
Controllers
Feedback control
Mathematical models
Measurement uncertainty
Mobile robots
Motion control
Robust control
Sliding mode control
System dynamics
Task analysis
Three-dimensional displays
Tracking control
Tracking errors
Tracking problem
Trajectory control
Trajectory tracking
underactuated robots
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Summary:The letter presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically motivated constraints, the algorithm assumes a highly uncertain system dynamics model. The tracking problem is solved in a uniform way, without dividing it into subtasks considered in 2D spaces, thanks to the introduction of an auxiliary tracking error. The proposed controller is based on the sliding mode approach. Its stability is investigated using Lyapunov theorem. Numerical simulations are conducted in order to verify properties of a closed-loop system for a generic model of the airship. Performance of the control system is examined via experiments in various scenarios using a prototype airship. The obtained results indicate that the control objectives are satisfied in practice with a reasonable accuracy. Moreover, it is shown that the controller is robust to some bounded additive measurement perturbations and delays in the control loop.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2994484