Trajectory tracking for a stratospheric autonomous airship using fuzzy adaptive control

摘要

This paper considers trajectory tracking of a stratospheric autonomous airship. A new control scheme was proposed based on the computed torque method, a fuzzy approximation system and a compensating controller. Firstly, a dynamic model for the airship was established and the issue of trajectory control was defined. Secondly, a fuzzy adaptive trajectory control system was designed using the computational moment method and the fuzzy approximation system, the stability of the closed-loop control system was proved by the Lyapunov theorem. Finally, simulation results were provided to demonstrate the effectiveness and robustness of the proposed control scheme.