Adaptive backstepping control for a multi-vectored thrust stratospheric airship with thrust saturation in wind

Abstract

In this article, an output-feedback control law is designed for a multi-vectored thrust stratospheric airship. The proposed control law is designed using the adaptive backstepping method and with few model aerodynamics parameters besides the qualitative physical properties. The resulting feedback controller is able to follow the given references in three Cartesian positions $(x, y, z)$ and yaw angle by actuating four thrusters and their deflection angles. Lyapunov function analysis is introduced to compensate for the engine physical limits and guarantees closed-loop system stability. A degraded scenario (wind disturbance) which renders the airship statically unstable is also considered to show the adaptation capabilities of the control law. The simulations are carried out using a realistic multi-vectored thrust stratospheric airship model that is also developed in this study. Simulation results are given to illustrate the effectiveness of the proposed adaptive backstepping control when saturations are present even in wind disturbance.

Keywords

Stratospheric airship multi-vectored thrusters adaptive backstepping saturation Lyapunov stability

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