Stabilization of a nonlinear underactuated autonomous airship - A combined averaging and backstepping approach

被引：11

作者：

Beji, L ^{[1
]}

Abichou, A ^{[1
]}

Bestaoui, Y ^{[1
]}

机构：

[1] Univ Evry Vall Dessonne, CNRS FRE2494, Lab Syst Complexes, Evry, France

来源：

ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年

关键词：

autonomous airships; homogeneous time-varying stabilization; averaging approach;

D O I：

10.1109/ROMOCO.2002.1177111

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

A strategy to design a time-varying stabilizing controller of the position and the orientation of an under-actuated autonomous airship is proposed. The dynamic modelling of the airship involves six equations with only three inputs. This airship cannot be stabilized to a point using continuous pure-state feedback law. However, the stabilization problem is solved with an explicit homogeneous time-varying control law, based on an averaging approach. We prove that the origin of the system is locally exponentially stable.

引用

页码：223 / 229

页数：7

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