Nonlinear Dynamics

, Volume 92, Issue 3, pp 1359–1367 | Cite as

A time-specified nonsingular terminal sliding mode control approach for trajectory tracking of robotic airships

Original Paper
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Abstract

The robotic airships provide potential aerial platforms for various applications and require robust trajectory tracking to support these tasks. A time-specified nonsingular terminal sliding mode control (TS-NTSMC) scheme is proposed to address the problem of trajectory tracking for robotic airships, which can avoid the singularity problem and specify the convergence time of terminal sliding mode control. First, the problem of trajectory tracking of robotic airships is formulated. Second, a nonsingular terminal sliding manifold consisting of pre-specified nonlinear functions is proposed, and the TS-NTSMC law is designed for trajectory tracking. Time-specified convergence and stability of the closed-loop system can be guaranteed by Lyapunov theory. Finally, compared experimental simulations are given to illustrate the advantages of TS-NTSMC against NTSMC.

Keywords

Trajectory control Terminal sliding mode control Time-specified convergence Robotic airship 

Notes

Acknowledgements

This work is supported by National Natural Science Foundation of China (No. 11502288) and Natural Science Foundation of Hunan Province (No. 2016JJ3019), and the authors also deeply indebted to the editors and reviewers.

Compliance with ethical standards

Conflict of interest

The authors declare that there is no conflict of interest.

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© Springer Science+Business Media B.V., part of Springer Nature 2018

Authors and Affiliations

  1. 1.Institute of Space Technology, College of Aerospace Science and EngineeringNational University of Defense TechnologyChangshaChina

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