自动化学报2008，Vol.34Issue(11)：1437-1440,4.
中性浮力下飞艇的自适应镇定与轨迹跟踪
Adaptive Stabilization and Trajectory Tracking of Airship with Neutral Buoyancy
摘要
Abstract
This paper presents an adaptive nonlinear control solution to the horizontal motion of an autonomous airship. We define a novel family of error functions including configuration error and velocity error. Then, we establish the error system. The adaptive nonlinear controller stabilizing the error system is designed by Lyapunov direct method and Matrosov theorem. Numerical studies are presented to illustrate the effectiveness of the proposed controller.关键词
Adaptive nonlinear control/Lyapunov method/Matrosov theorem/autonomous airship/neutral buoyancyKey words
Adaptive nonlinear control/Lyapunov method/Matrosov theorem/autonomous airship/neutral buoyancy分类
信息技术与安全科学引用本文复制引用
张燕,屈卫东,席裕庚,蔡自立..中性浮力下飞艇的自适应镇定与轨迹跟踪[J].自动化学报,2008,34(11):1437-1440,4.基金项目
Supported by National Natural Science Foundation of China(60504026, 60674041) and National High Technology Research and Development Program of China (863 Program) (2006AA04Z173) （60504026, 60674041）
