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AUTHOR(S):

Tami Y., Melbous A., Guessoum A.

 

TITLE

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

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ABSTRACT

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.

 

KEYWORDS

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

 

REFERENCES

[1] Melbous A, Tami. Y, Guessoum. A, “UAV Controller Design and Analysis using Sliding Mode Control.” 3rd International Conference on Electrical Engineering Design and Technologies Oct. 31 – Nov. 02, 2009 Sousse, Tunisia

[2] Bing Sun, Daqi Zhu, and Simon X. Yang, “A Bioinspired Filtered Backstepping Tracking Control of 7000-m Manned Submarine Vehicle”, IEEE TRANSACTIONS ON Industrial Electronics, Vol. 61, NO. 7, JULY 2014.

[3] Yue-neng YANG, Jie WU, Wei ZHENG,“Trajectory tracking for an autonomous airship using fuzzy adaptive sliding mode control.”, Yang et al. / J Zhejiang Univ-Sci C (Comput & Electron) 2012 13(7):534-543.

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[7] Bing Sun, Daqi Zhu, Weichong Li,” An Integrated Backstepping and Sliding Mode Tracking Control Algorithm for Unmanned Underwater Vehicles” , UKACC International Conference on Control 2012 Cardiff, UK, 3-5 September 2012.

[8] Filoktimon Repoulias and Evangelos Papadopoulos,“ Robotic Airship Trajectory Tracking Control Using a Backstepping Methodology”, 2008 IEEE International Conference on Robotics and Automation Pasadena, CA, USA, May 19-23, 2008.

[9] Daqi Zhu, BingSun, “The bio-inspired model based hybrid sliding-mode tracking control for unmanned underwater vehicles”, Engineering Applications of Artificial Intelligence 26 (2013) 2260–2269.

[10] L. BEJI and A. ABICHOU. “Tracking control of trim trajectories of a blimp for ascent and descent flight manoeuvres”, International Journal of Control Vol. 78, No. 10, 10 July 2005, 706–719.

[11] J. Wang, J. Chen, S. Ouyang, Y. Yang, “ Trajectory tracking control based on adaptive neural dynamics for four wheel drive omnidirectional mobile robots.” Engineering Review, Vol. 34, Issue 3, 235-243, 2014.

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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