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 Publication | Asian Journal of Control
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ISSN | 1561-8625 |
2019 | |
Volume | 21Issue:1Pages:248-263 |
Indexed By | SCI ; EI |
EI Accession number | 20183605768087 |
WOS ID | WOS:000462064800020 |
Contribution Rank | 1 |
Funding Organization | National Science Foundation of China ; Foundation of State Key Laboratory of Robotics of China ; Shanghai Pujiang Program |
Keyword | Model 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 Subject | Automation & Control Systems |
WOS Keyword | TRAJECTORY TRACKING ; ROBUST MPC ; SYSTEMS ; DESIGN ; NETWORK |
WOS Research Area | Automation & Control Systems |
Funding Project | National 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] ; National 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 |
Identifier | http://ir.sia.cn/handle/173321/22778 |
Collection | 空间自动化技术研究室 |
Corresponding Author | Chen L(陈丽) |
Affiliation | 1.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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NONLINEAR MPC FOR A (1777KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Application Full Text |
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