Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation | |
Wen YB(温余彬)1,3; Duan DP(段登平)1; Liang KK(梁宽宽)1; Chen L(陈丽)2 | |
刊名 | Asian Journal of Control |
2019 | |
卷号 | 21期号:1页码:248-263 |
关键词 | Model Predictive Control Sliding Mode Observer Station Keeping Airship Saturation Control Allocation |
ISSN号 | 1561-8625 |
产权排序 | 1 |
英文摘要 | A nonlinear fault tolerant station keeping controller for a multi-vectored propeller airship without velocity and angular velocity sensors is developed, which is composed of three modules: nonlinear model predictive controller (NMPC), sliding mode observer (SMO), and linear programming (LP) based control allocation. The kinematics and dynamics model of the airship are introduced. Based on the nonlinear model, with the assumption that the velocity and angular velocity sensors are damaged, a sliding mode observer is designed to estimate the velocity and angular velocity of the airship. To achieve good performance in the station keeping mission, an explicit nonlinear model predictive control is derived. A linear programming base control allocation method is proposed to solve both amplitude and rate constraint of the propulsion forces and deflection angles. Stability analysis is carried out to prove that the system can be stabilized in finite time. Simulation results for the station keeping control are illustrated to prove the 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关键词 | TRAJECTORY TRACKING ; ROBUST MPC ; SYSTEMS ; DESIGN ; NETWORK |
WOS研究方向 | Automation & Control Systems |
语种 | 英语 |
WOS记录号 | WOS:000462064800020 |
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/173321/22778] |
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 Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China 2.School of Air Transportation, Shanghai University of Engineering Science, Shanghai 201620, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Wen YB,Duan DP,Liang KK,et al. Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation[J]. Asian Journal of Control,2019,21(1):248-263. |
APA | Wen YB,Duan DP,Liang KK,&Chen L.(2019).Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation.Asian Journal of Control,21(1),248-263. |
MLA | Wen YB,et al."Nonlinear MPC for a Sensorless Multi-Vectored Propeller Airship Based on Sliding Mode Observer with Saturation".Asian Journal of Control 21.1(2019):248-263. |
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