Study of Airship Attitude Tracking System
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摘要: 研究了具有参数不确定和外部干扰的飞艇姿态跟踪控制问题．飞艇姿态运动的数学模型为一个多输入/多输出不确定非线性系统，根据该系统的特点，采用了一个基于不确定项上界的鲁棒输出跟踪控制器设计方法，应用输入/输出反馈线性化法和李雅普诺夫方法，设计了飞艇姿态鲁棒控制律，它可确保系统输出按指数规律跟踪期望输出．该控制器设计简单，易于实现．仿真结果表明：即使系统存在不确定性和外界干扰，仍可在闭环系统中实现精确的姿态控制．Abstract: The attitude tracking control problem for an airship with parameter uncertainties and external disturbances was considered. The mathematical model of the airship attitude is a multi-input multi-output uncertain nonlinear system. Based on the characteristics of this system, a design method of robust output tracking controllers was adopted based on the upper-bounds of the uncertainties. Using the input/ output feedback linearization approach and Liapunov method, a control law was designed, which guarantees that the system output exponentially tracks the given desired output. The controller is easy to compute and complement. Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system
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Key words:
- airship /
- uncertain nonlinear system /
- feedback linearization /
- simulation
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