Adaptive Trajectory Tracking of Stratospheric Airship Based on Input-output Stability Theory

摘要

Based on input-output stability theory a new approach is introduced about cruise trajectory tracking adaptive control of a fully-actuated stratospheric airship. Firstly the dynamic model is expressed by the generalized coordinates. In view of the imprecisely unknown inertial parameters, online inertial parameter estimator and trajectory tracking law are designed to realize autonomous tracking of any continuous time-varying desired trajectory from an arbitrary initial condition. The stability of the closed-loop control system is proved by using the Lyapunov stability theory. Finally, simulation results of tracking a typical trajectory for such a fully-actuated airship show the validity of the proposed method.