Volume 7 Number 11 (Nov. 2012)
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JCP 2012 Vol.7(11): 2781-2787 ISSN: 1796-203X
doi: 10.4304/jcp.7.11.2781-2787

Adaptive Trajectory Tracking Control of a High Altitude Unmanned Airship

Yongmei Wu1, Ming Zhu1, Zongyu Zuo2, Zewei Zheng2
1School of Aeronautical Science and Engineering, Beihang University, Beijing, China
2School of Automation Science and Electrical Engineering, Beihang University, Beijing, China


Abstract—Nonlinear dynamic model of a high-altitude unmanned airship, expressed by generalized coordinate, was built. A nonlinear compensation was introduced into the control loop to linearize and decouple the nonlinear system globally. In view of the imprecisely known inertia parameters of the airship, an adaptive law was proposed based on the feedback linearization to realize asymptotic tracking of any continuous time-varying desired trajectory from an arbitrary initial condition. The stability of the closed-loop control system was proved via the use of Lyapunov stability theory. Finally, numerical simulation results demonstrate the validity and effectiveness of the proposed adaptive control law.

Index Terms—Adaptive control, feedback linearization, trajectory tracking, high-altitude unmanned airships.

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Cite: Yongmei Wu, Ming Zhu, Zongyu Zuo, Zewei Zheng, "Adaptive Trajectory Tracking Control of a High Altitude Unmanned Airship," Journal of Computers vol. 7, no. 11, pp. 2781-2787, 2012.

General Information

ISSN: 1796-203X
Abbreviated Title: J.Comput.
Frequency: Bimonthly
Editor-in-Chief: Prof. Liansheng Tan
Executive Editor: Ms. Nina Lee
Abstracting/ Indexing: DBLP, EBSCO,  ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat,etc
E-mail: jcp@iap.org
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