Attitude control strategy of airship based on active disturbance rejection controller
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ORIGINAL PAPER
Attitude control strategy of airship based on active disturbance rejection controller Rucheng Le1 · Xiaoliang Wang1 · Dengping Duan1 · Yang Wu1 Received: 20 June 2020 / Revised: 28 July 2020 / Accepted: 29 July 2020 © Shanghai Jiao Tong University 2020
Abstract The flight performance of the airship is closely related to the attitude control. For the stability of the station-keeping and the rapidity and accuracy of the trajectory tracking, it is necessary to study the attitude control of the airship. This paper proposes a strategy including two parties. First, a novel control mechanism combining moving-mass and tail vector thrust is proposed, and the airship mathematical model is introduced briefly. Second, active disturbance rejection controller (ADRC) is introduced which is developed from classical proportion–integration–differentiation (PID) controller. Considering the special working environment of stratospheric airship, the wind field is added to the simulation as external disturbance. The results show that the system is stable which can track any expected angle of pitch and yaw directions with small overshoot and rise time. In general, with or without the disturbance of 4 m/s wind field, the ADRC performs better than PID controller. Keywords Airship · Active disturbance rejection control · Matlab/Simulink · PID
1 Introduction In recent years, the research of airship has become more and more popular because they have a wide range of applications, ranging from advertising, tourism and aerial inspection platforms [1–4]. Compared with airplanes, low-altitude airships have larger load, slower speed and low energy consumption. The most important purpose of stratospheric autonomous airship is to be a communication transfer station instead of satellite. However, the autonomous airship is still in its initial stage of development; one of the technical difficulties is the flight control system. That is the reason many new control approaches have been researched for autonomous airship in the past few decades, for example, backstepping method [5, 6], sliding mode control [7–9], adaptive control [10, 11] and intelligent control [12, 13]. These works concentrate on different areas of airship control. For airship flight controlling, the most important part is attitude control, which has attracted many scholars’ research. In recent decades, the attitude law design of airship tracking has made important progress, and many control schemes * Xiaoliang Wang [email protected] 1
School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Dongchuan Rd. 800, Shanghai 200240, China
have been put forward. In [14], an attitude tracking control law was designed using input/output feedback linearization and the Lyapunov method, which guarantees that the system output exponentially tracks the given desired. In [15], Liesk et al. solved the problem of attitude, velocity and height control of an unmanned, unstable, fin-less airship by designing a combined backstepping/Lyapunov controller. In [7], Ya
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