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Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation
Wen YB(温余彬)1,2; Chen L(陈丽)3; Liang KK(梁宽宽)1; Duan DP(段登平)1
Department空间自动化技术研究室
Source PublicationAsian Journal of Control
ISSN1561-8625
2019
Volume21Issue:1Pages:248-263
Indexed BySCI ; EI
EI Accession number20183605768087
WOS IDWOS:000462064800020
Contribution Rank1
Funding OrganizationNational Science Foundation of China ; Foundation of State Key Laboratory of Robotics of China ; Shanghai Pujiang Program
KeywordModel Predictive Control Sliding Mode Observer Station Keeping Airship Saturation Control Allocation
Abstract

A nonlinear fault tolerant station keeping controller for a multi-vectored propeller airship without velocity and angular velocity sensors is developed, which is composed of three modules: nonlinear model predictive controller (NMPC), sliding mode observer (SMO), and linear programming (LP) based control allocation. The kinematics and dynamics model of the airship are introduced. Based on the nonlinear model, with the assumption that the velocity and angular velocity sensors are damaged, a sliding mode observer is designed to estimate the velocity and angular velocity of the airship. To achieve good performance in the station keeping mission, an explicit nonlinear model predictive control is derived. A linear programming base control allocation method is proposed to solve both amplitude and rate constraint of the propulsion forces and deflection angles. Stability analysis is carried out to prove that the system can be stabilized in finite time. Simulation results for the station keeping control are illustrated to prove the effectiveness of the proposed method.

Language英语
WOS SubjectAutomation & Control Systems
WOS KeywordTRAJECTORY TRACKING ; ROBUST MPC ; SYSTEMS ; DESIGN ; NETWORK
WOS Research AreaAutomation & Control Systems
Funding ProjectNational Science Foundation of China[61733017] ; National Science Foundation of China[61703275] ; Foundation of State Key Laboratory of Robotics of China[2018O13] ; Shanghai Pujiang Program[18PJD018]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22778
Collection空间自动化技术研究室
Corresponding AuthorChen L(陈丽)
Affiliation1.School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.School of Air Transportation, Shanghai University of Engineering Science, Shanghai 201620, China
Recommended Citation
GB/T 7714
Wen YB,Chen L,Liang KK,et al. Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation[J]. Asian Journal of Control,2019,21(1):248-263.
APA Wen YB,Chen L,Liang KK,&Duan DP.(2019).Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation.Asian Journal of Control,21(1),248-263.
MLA Wen YB,et al."Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation".Asian Journal of Control 21.1(2019):248-263.
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