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针对具有模型不确定和未知外部干扰的自治飞艇,提出了直接自适应模糊路径跟踪控制方法.该方法由路径跟踪控制和自适应模糊控制两部分组成.首先基于飞艇的平面运动模型设计路径跟踪控制律,包括制导律计算、偏航角跟踪和速度控制3部分;然后构造直接自适应模糊控制器逼近路径跟踪控制律中的不确定项.稳定性分析证明所设计的控制律能使飞艇跟踪给定的期望路径,跟踪误差收敛到原点的小邻域内.仿真结果验证了所提出方法的有效性.
Aimed at autonomous autonomous airships with model uncertainties and unknown external disturbances, a direct adaptive fuzzy path following control method is proposed, which is composed of path tracking control and adaptive fuzzy control.Firstly, based on plane motion model of airship, path following control Including guideline calculation, yaw angle tracking and velocity control, and then construct the direct adaptive fuzzy controller to approach the uncertainties in the path-following control law. The stability analysis proves that the designed control law can make the airship track Given the desired path, the tracking error converges to a small neighborhood of the origin. Simulation results verify the effectiveness of the proposed method.