Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation

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	Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation
	Wen YB(温余彬); Chen L(陈丽)3; Wang YY(王曰英)1; Sun DS(孙丁山).1; Duan DP(段登平)1; Liu JG(刘金国)2
作者部门	空间自动化技术研究室
关键词	Model predictive control disturbance observer tracking differentiator station-keeping saturation
发表期刊	AERONAUTICAL JOURNAL
ISSN	0001-9240
	2018
卷号	122 期号:1257 页码:1753-1774
收录类别	SCI ; EI
EI收录号	20184706110459
WOS记录号	WOS:000450216300005
产权排序	1
资助机构	National Science Foundation of China [61733017, 61703275] ; Foundation of State Key Laboratory of Robotics of China [2018O13] ; Shanghai Pujiang Program [18PJD018]
摘要	A nonlinear station-keeping control method for a multi-vectored propeller airship under unknown wind field with thrust saturation is developed, which is composed of three modules: nonlinear model predictive controller (NMPC), disturbance observer (DOB) and tracking differentiator (TD). The nonlinear kinematics and dynamics models are introduced, and the wind effect is considered by the wind-induced aerodynamic force. Based on both models, an explicit NMPC is designed. Then a nonlinear DOB is introduced to estimate the wind disturbance. A TD, showing the relationship between the maximum propulsion force and the maximum flight acceleration, is proposed to handle the thrusts' amplitude saturation. Stability analysis shows that the closed-loop system is globally asymptotically stable. Simulations for a multi-vectored propeller airship are conducted to demonstrate the robustness and effectiveness of the proposed method.
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.sia.cn/handle/173321/23585
专题	空间自动化技术研究室
作者单位	1.School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China 3.School of Air Transportation, Shanghai University of Engineering Science, Shanghai, China
推荐引用方式 GB/T 7714	Wen YB,Chen L,Wang YY,et al. Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation[J]. AERONAUTICAL JOURNAL,2018,122(1257):1753-1774.
APA	Wen YB,Chen L,Wang YY,Sun DS,Duan DP,&Liu JG.(2018).Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation.AERONAUTICAL JOURNAL,122(1257),1753-1774.
MLA	Wen YB,et al."Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation".AERONAUTICAL JOURNAL 122.1257(2018):1753-1774.

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