Work

Adaptive Trajectory Tracking Control for Unmanned Airships With Input Saturation and Quantization

Year: 2025

Type: article

Abstract: ABSTRACT This article proposes a novel adaptive robust nonlinear trajectory‐tracking control strategy for an unmanned airship subject to actuator saturation, input quantization, unknown time‐varying disturbances, and model uncertainties. An auxiliary system is first developed to solve the actuator saturation. Then, an adaptive nonsingular terminal sliding mode controller is designed based on the barrier function. The utilized adaptive law eliminates the need to assume disturbance upper bounds, avoids overestimating control gains, reduces chattering, and allows for a stable zero neighborhood of predefined sliding variables. Due to limitations in communication bandwidth, a quantizer is used to quantize the control commands. The key feature of this method is its strong capability for saturation compensation and precise trajectory tracking. Finite‐time stability is theoretically proven using the Lyapunov method, and the superiority of the control algorithm is demonstrated through numerical simulations.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.7988

Authors: Chang Zhang, Jiang Wang, Hongyan Li

Institution: Beijing Institute of Technology

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funder: National Natural Science Foundation of China

Award: G336257773