Robust Global Stabilization and Disturbance Rejection of an Underactuated Nonholonomic Airship
Robust Global Stabilization and Disturbance Rejection of an Underactuated Nonholonomic Airship
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DOI：
10.1109/cca.2007.4389345
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发表时间：
2007-11
期刊：
影响因子：
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通讯作者：
M. Yamada;Yasuhiro Taki;Akira Katayama;Y. Funahashi
中科院分区：
文献类型：
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作者：
M. Yamada;Yasuhiro Taki;Akira Katayama;Y. Funahashi
本文研究了在持续风扰动作用下，利用减少的驱动器数目控制欠驱动飞艇的平面位置和姿态的问题。飞艇是一个由非线性方程组描述的非完整系统，其动力学具有有界不确定性。提出了一种平滑的时变坐标变换，将飞艇的扰动抑制问题转化为一个简单的线性时不变系统的扰动抑制问题。一种新的鲁棒反馈控制器在对象不确定的情况下提供了全局镇定和对风干扰的渐近抑制。所提出的设计方法简单直接。实验验证了所提出的控制器的有效性。
This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators in the presence of a persistent wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subjected to bounded uncertainties. A smooth and time-varying coordinate transformation is proposed to reduce the disturbance rejection problem of the airship to that of a simple linear time-invariant system. A new robust feedback controller provides global stabilization and asymptotical rejection against the wind disturbance under the plant uncertainties. The proposed design method is simple and straightforward. Experiments are performed to validate the effectiveness of the proposed controller.