Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation

doi:10.1017/aer.2018.91

CORC > 金属研究所 > 中国科学院金属研究所

	Nonlinear DOB-based explicit NMPC for station-keeping of a multi-vectored propeller airship with thrust saturation
	Wen, Y.2,3; Chen, L.1; Wang, Y.3; Sun, D.3; Duan, D.3; Liu, J.2
刊名	AERONAUTICAL JOURNAL
	2018-11-01
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
DOI	10.1017/aer.2018.91
通讯作者	Chen, L.(chen2006@sjtu.edu.cn)
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
出版者	CAMBRIDGE UNIV PRESS
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.imr.ac.cn/handle/321006/130200]
专题	金属研究所_中国科学院金属研究所
通讯作者	Chen, L.
作者单位	1.Shanghai Univ Engn Sci, Sch Air Transportat, Shanghai, Peoples R China 2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang, Liaoning, Peoples R China 3.Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai, Peoples R China
推荐引用方式 GB/T 7714	Wen, Y.,Chen, L.,Wang, Y.,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, Y.,Chen, L.,Wang, Y.,Sun, D.,Duan, D.,&Liu, J..(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, Y.,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.