Abstract
Aiming at flight property of airship, a trajectory tracking controller of airship horizontal model is designed based on active disturbance rejection control (ADRC). The six Degree of Freedom (DOF) dynamic model of airship is simplified at a horizontal plane. ADRC is used to realize the decoupling control for the multivariable system. The uncertain items of the model and external disturbances are estimated by the extended state observer (ESO) and dynamic feedback compensation is carried on at real time. The disturbance of wind is added to the simulation environment. The simulation results show that the designed tracking controller can overcome the influences of uncertain items of the model and external disturbances, and track the desired trajectory rapidly and steadily, and possess good robustness and control performances.
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This work is supported by the National Natural Science Foundation of China under Grant Nos. 61273138 and 61174094.
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Zhu, E., Pang, J., Sun, N. et al. Airship horizontal trajectory tracking control based on Active Disturbance Rejection Control (ADRC). Nonlinear Dyn 75, 725–734 (2014). https://doi.org/10.1007/s11071-013-1099-x
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DOI: https://doi.org/10.1007/s11071-013-1099-x