定常風に対する飛行船システムの大域的な位置と姿勢の制御(機械力学,計測,自動制御)

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This paper considers the problem of controlling both the planar position and the attitude of an underactuated airship with a reduced number of actuators in the presence of a persistant wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations. A smooth and time-varying coordinate transformation and an integrator are utilized to reduce the disturbance rejection problem of the airship to a simple stabilization problem of a linear time-invariant system. A new feedback controller with integrator provides both global stabilization of the airship system and global asymptotical rejection against the wind disturbance. The proposed design method is simple and straightforward. Experiments are performed to validate the effectiveness of the proposed controller.
2010-07-25