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)1; Wang YY(王曰英)3; Sun DS(孙丁山).3; Duan DP(段登平)3; Liu JG(刘金国)2![]() | |
刊名 | AERONAUTICAL JOURNAL
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2018 | |
卷号 | 122期号:1257页码:1753-1774 |
关键词 | Model predictive control disturbance observer tracking differentiator station-keeping saturation |
ISSN号 | 0001-9240 |
产权排序 | 1 |
英文摘要 | 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. |
资助项目 | National Science Foundation of China[61733017] ; National Science Foundation of China[61703275] ; Foundation of State Key Laboratory of Robotics of China[2018O13] ; Shanghai Pujiang Program[18PJD018] |
WOS研究方向 | Engineering |
语种 | 英语 |
WOS记录号 | WOS:000450216300005 |
资助机构 | National Science Foundation of China ; Foundation of State Key Laboratory of Robotics of China ; Shanghai Pujiang Program |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/23585] ![]() |
专题 | 沈阳自动化研究所_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 Air Transportation, Shanghai University of Engineering Science, Shanghai, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China 3.School of Aeronautics and Astronautics, Shanghai Jiao Tong University, 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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