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Robust Fuzzy MPC for Station-keeping of A Multi-vectored Propeller Airship Based on Path Following Method
Wen YB(温余彬)1; Chen L(陈丽)2; 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
会议名称2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
会议日期November 18-21, 2018
会议地点Singapore,
会议录名称2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)
出版者IEEE
出版地New York
2018
页码889-894
产权排序3
ISBN号978-1-5386-9581-4
摘要In this paper, a station-keeping controller is designed for a multi-vectored (four thrusts) propeller airship by using path following approach. Firstly, the nonlinear models of the airship are introduced, including kinematics and dynamics, and the T-S fuzzy model is derived using linearization. Then, the station-keeping controller is designed, which consists of two modules: a guidance loop and a robust model predictive control(MPC). The guidance loop uses the guidance-based path following(GBPF) principle to calculate the desired yaw rate and velocities of the airship, while the robust MPC calculates a feedback control law to track the desired yaw rate and velocities by solving linear matrix inequalities (LMIs). Simulation results for the multi-vectored propeller airship are carried out to illustrate the effectiveness of the proposed method.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/23593
专题空间自动化技术研究室
通讯作者Chen L(陈丽)
作者单位1.School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China
2.School of Air Transportation, Shanghai University of Engineering Science, Shanghai, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Wen YB,Chen L,Duan DP,et al. Robust Fuzzy MPC for Station-keeping of A Multi-vectored Propeller Airship Based on Path Following Method[C]. New York:IEEE,2018:889-894.
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