Tami Y., Melbous A., Guessoum A.



Backstepping approach and Bio Inspired model based hybrid sliding-mode tracking control for Airship

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A novel hybrid control approach is presented for trajectory tracking control of an autonomous airship vehicles in this paper. The kinematic and dynamic controllers are integrated by the proposed control strategy. The paper has two objectives. Firstly, an improved backstep method is proposed to generate the virtual velocity using a bio-inspired neurodynamics model in the kinematic controller. The bio-inspired neurodynamics model is intended to smooth the virtual velocity output to avoid speed jumps of the autonomous airship vehicle caused by tracking errors. Secondly, a new sliding-mode method is added to the dynamic controller, which is robust against parameter inaccuracy and disturbances. The combined kinematic–dynamic control law is applied to the trajectory tracking problem of an autonomous airship vehicle. Finally, simulation results illustrate the performance of the proposed controller.



autonomous airship vehicle, Tracking control, Biological inspired neurodynamics, Backstepping control, Sliding mode control.



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Cite this paper

Tami Y., Melbous A., Guessoum A.. (2017) Backstepping approach and Bio Inspired model based hybrid sliding-mode tracking control for Airship. International Journal of Control Systems and Robotics, 2, 103-110


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