Trajectory Tracking Control for a Stratospheric Airship Subject to Constraints and Unknown Disturbances

Abstract

This paper addresses the spatial trajectory tracking problem for a stratospheric airship with state constraints, input saturation and unknown disturbances. First, a Laguerre-based model predictive kinematic controller (LMPC) is proposed to tackle the state constraints and generate the desired velocity signal. To reduce the complexity of online optimization, Laguerre functions are applied to decrease the number of optimization variables by approximating the predicted control sequence. Second, in the dynamic loop, a sliding mode controller (SMC) with fast power rate reaching law (FPRRL) is introduced to track the desired velocity signal. The unknown disturbances in the dynamic model of airship are estimated and compensated by reduced-order extended state observer (ESO). An anti-windup compensator is incorporated into the FPRRL-based SMC controller to deal with the input saturation. Stability analysis implies that the tracking errors converge to a small neighborhood of zero. Comparative simulations about spatial straight and curve trajectory tracking are provided to evaluate the effectiveness and robustness of the proposed control scheme.