Sliding Mode Lateral Guidance and Control of Finless Airship
Publication: Journal of Aerospace Engineering
Volume 35, Issue 2
Abstract
The path following a finless airship is presented in this paper using a nonunified sliding mode-based lateral guidance and control framework. The outer-guidance loop relies on the airship’s kinematics, and the designed sliding surface is based on the leading angle that generates the heading angle reference commands. For the inner-control loop, the sliding surface is designed based on the yaw error angle generating commands by actuating the propulsion arms. The effectiveness of the proposed framework is validated by using a high-fidelity nonlinear simulation along with actuator dynamics and sensor models having measurement noises and external disturbances. The results demonstrate the effectiveness of the proposed design framework compared to the classical techniques using proportional navigation in the outer-guidance loop and a linear quadratic regulator in the inner-control loop.
Get full access to this article
View all available purchase options and get full access to this article.
Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
This work was supported by the Natural Science Foundation of China under Grant 61873017, in part by the Beijing Natural Science Foundation under Grant Z180005.
References
Atmeh, G., and K. Subbarao. 2016. “Guidance, navigation and control of unmanned airships under time-varying wind for extended surveillance.” Aerospace 3 (1): 8. https://doi.org/10.3390/aerospace3010008.
Bhattacharjee, D., A. Chakravarthy, and K. Subbarao. 2020. “Nonlinear model predictive control based missile guidance for target interception.” In AIAA Scitech 2020 Forum, 0865. Reston, VA: American Institute of Aeronautics and Astronautics. https://doi.org/10.2514/6.2020-0865.
Boiko, I. M. 2013. “Chattering in sliding mode control systems with boundary layer approximation of discontinuous control.” Int. J. Syst. Sci. 44 (6): 1126–1133. https://doi.org/10.1080/00207721.2011.652233.
Bueno, S. S., J. R. Azinheira, J. J. G. Ramos, E. Paiva, P. Rives, A. Elfes, J. R. Carvalho, and G. F. Silveira. 2002. “Project aurora: Towards an autonomous robotic airship.” In Proc., Workshop on Aerial Robotics, IEEE Int. Conf. on Intelligent Robots and Systems, 43–54. New York: IEEE.
Burton, J., and A. S. Zinober. 1986. “Continuous approximation of variable structure control.” Int. J. Syst. Sci. 17 (6): 875–885. https://doi.org/10.1080/00207728608926853.
Chen, B. M. 2013. Robust and Control. London: Springer.
Cimarelli, A., M. Madonia, D. Angeli, and A. Dumas. 2017. “Aerodynamic study of advanced airship shapes.” J. Aerosp. Eng. 30 (3): 04016087. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000687.
dos Santos, D. A., and A. Cunha Jr. 2019. “Flight control of a hexa-rotor airship: Uncertainty quantification for a range of temperature and pressure conditions.” ISA Trans. 93 (Oct). 268–279. https://doi.org/10.1016/j.isatra.2019.03.010.
Edwards, C., and S. Spurgeon. 1998. Sliding mode control: Theory and applications. London: CRC Press.
Elfes, A., S. S. Bueno, M. Bergerman, J. Ramos Jr., and S. B. V. Gomes. 1998. “Project aurora: Development of an autonomous unmanned remote monitoring robotic airship.” J. Braz. Comput. Soc. 4 (3): 43–54. https://doi.org/10.1590/S0104-65001998000100009.
Gao, W., and F. Lu. 2015. “Simulation of proportional guidance law with an airship.” In Proc., 27th Chinese Control and Decision Conf. (2015 CCDC), 3523–3526. New York: IEEE.
Guo, J., J. Zhou, and B. Zhao. 2020. “Three-dimensional integrated guidance and control for strap-down missiles considering seeker’s field-of-view angle constraint.” Trans. Inst. Meas. Control 42 (6): 1097–1109. https://doi.org/10.1177/0142331219883719.
Han, D., X. L. Wang, M. Zhao, and D. P. Duan. 2017. “An improved proportional navigation guidance law for waypoint navigation of airships.” In Information technology and intelligent transportation systems, 373–383. Cham, Switzerland: Springer.
Kaminer, I., A. Pascoal, E. Hallberg, and C. Silvestre. 1998. “Trajectory tracking for autonomous vehicles: An integrated approach to guidance and control.” J. Guid. Control Dyn. 21 (1): 29–38. https://doi.org/10.2514/2.4229.
Khoury, G. A. 2012. Vol. 10 of Airship technology. Cambridge, UK: Cambridge University Press.
Krstic, M., P. V. Kokotovic, and I. Kanellakopoulos. 1995. Nonlinear and adaptive control design. New York: Wiley.
Li, D., and Q. Wang. 2006. “Robust sliding mode control guidance law for interceptor based on wavelet neural networks.” In Vol. 1 of Proc., 2006 6th World Congress on Intelligent Control and Automation, 2199–2203. New York: IEEE.
Li, Y., M. Nahon, and I. Sharf. 2011. “Airship dynamics modeling: A literature review.” Prog. Aerosp. Sci. 47 (3): 217–239. https://doi.org/10.1016/j.paerosci.2010.10.001.
Liu, X., B. Chen, Y. He, and D. Li. 2020. “Development of an autonomous object transfer system by an unmanned aerial vehicle based on binocular vision.” Int. J. Adv. Rob. Syst. 17 (1): 1729881420907732. https://doi.org/10.1177/1729881420907732.
Liu, Y., Z. Pan, D. Stirling, and F. Naghdy. 2009. “Control of autonomous airship.” In Proc., 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2457–2462. New York: IEEE.
Lou, W., M. Zhu, X. Guo, and Y. Song. 2018. “Trajectory tracking control for airships based on command-filtered slide mode control with neural network approximation.” In Proc., 2018 Chinese Control and Decision Conf. (CCDC), 3738–3743. New York: IEEE.
Meddahi, Y., K. Z. Meguenni, M. M. Tahar, and M. E. Larbi. 2013. “A backstepping approach for airship autonomous robust control.” Int. Rev. Autom. Control 6 (6): 714–719.
Moutinho, A., J. R. Azinheira, E. C. de Paiva, and S. S. Bueno. 2016. “Airship robust path-tracking: A tutorial on airship modelling and gain-scheduling control design.” Control Eng. Pract. 50 (May): 22–36. https://doi.org/10.1016/j.conengprac.2016.02.009.
Mueller, J., M. Paluszek, and Y. Zhao. 2004. “Development of an aerodynamic model and control law design for a high altitude airship.” In Proc., AIAA 3rd “Unmanned Unlimited” Technical Conf., Workshop and Exhibit, 6479. Reston, VA: American Institute of Aeronautics and Astronautics.
Nie, C., Z. Zheng, and M. Zhu. 2019. “Three-dimensional path-following control of a robotic airship with reinforcement learning.” Int. J. Aerosp. Eng. 2019: 1–12. https://doi.org/10.1155/2019/7854173.
Nzar, R. S. S. A. M. 2008. “Lateral guidance & control design for an unmanned aerial vehicle.” IFAC Proc. Vol. 41 (2): 4737–4742. https://doi.org/10.3182/20080706-5-KR-1001.00797.
Ollero, A., and I. Maza. 2007. Vol. 37 of Multiple heterogeneous unmanned aerial vehicles. Berlin: Springer.
Paiva, E., F. Benjovengo, S. Bueno, and P. Ferreira. 2009. “Sliding mode control approaches for an autonomous unmanned airship.” In Proc., 18th AIAA Lighter-Than-Air Systems Technology Conf., 2869. Reston, VA: American Institute of Aeronautics and Astronautics. https://doi.org/10.2514/6.2009-2869.
Park, S. 2004. “Avionics and control system development for mid-air rendezvous of two unmanned aerial vehicles.” Ph.D. thesis, Dept. of Aeronautics and Astronautics, Massachusetts Institute of Technology.
Parsa, A., S. B. Monfared, and A. Kalhor. 2018. “Backstepping control based on sliding mode for station-keeping of stratospheric airship.” In Proc., 2018 6th RSI Int. Conf. on Robotics and Mechatronics (IcRoM), 554–559. New York: IEEE.
Phadke, S., and S. E. Talole. 2012. “Sliding mode and inertial delay control based missile guidance.” IEEE Trans. Aerosp. Electron. Syst. 48 (4): 3331–3346. https://doi.org/10.1109/TAES.2012.6324711.
Roopaei, M., and M. Z. Jahromi. 2009. “Chattering-free fuzzy sliding mode control in MIMO uncertain systems.” Nonlinear Anal. Theory Methods Appl. 71 (10): 4430–4437. https://doi.org/10.1016/j.na.2009.02.132.
Saeed, A., Y. Liu, M. Z. Shah, L. Wang, Z. Zuo, and Q.-G. Wang. 2021. “Higher order sliding mode based lateral guidance and control of finless airship.” Aerosp. Sci. Technol. 113 (Jun): 106670. https://doi.org/10.1016/j.ast.2021.106670.
Saeed, A., L. Wang, Y. Liu, M. Z. Shah, and Z. Y. Zuo. 2020. “Modeling and control of unmanned fin-less airship with robotic arms.” ISA Trans. 103 (Aug): 103–111. https://doi.org/10.1016/j.isatra.2020.04.006.
Sastry, S., and M. Bodson. 2011. Adaptive control: Stability, convergence and robustness. Mineola, NY: Dover.
Shah, M. Z., R. Samar, and S. U. Ali. 2015. “Altitude controller design and flight demonstration for a research UAV.” In Proc., 8th Ankara Int. Aerospace Conf., 1–12. Ankara, Turkey: Middle East Technical Univ.
Shah, M. Z., R. Samar, and A. I. Bhatti. 2011. “Lateral control for UAVs using sliding mode technique.” IFAC Proc. 44 (1): 11121–11126. https://doi.org/10.3182/20110828-6-IT-1002.03428.
Shi, T., W. Chen, C. Gao, J. Hu, B. Zhao, P. Wang, and M. Wang. 2018. “Yarn tensile experiments and numerical simulations based on the decomposition of stratospheric airship envelopes.” J. Aerosp. Eng. 31 (3): 04018011. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000833.
Shima, T., M. Idan, and O. M. Golan. 2006. “Sliding-mode control for integrated missile autopilot guidance.” J. Guid. Control Dyn. 29 (2): 250–260. https://doi.org/10.2514/1.14951.
Shtessel, Y. B., I. A. Shkolnikov, and A. Levant. 2007. “Smooth second-order sliding modes: Missile guidance application.” Automatica 43 (8): 1470–1476. https://doi.org/10.1016/j.automatica.2007.01.008.
Skogestad, S., and I. Postlethwaite. 2007. Vol. 2 of Multivariable feedback control: Analysis and design. New York: Wiley.
Sujit, P., S. Saripalli, and J. B. Sousa. 2014. “Unmanned aerial vehicle path following: A survey and analysis of algorithms for fixed-wing unmanned aerial vehicles.” IEEE Control Syst. Mag. 34 (1): 42–59. https://doi.org/10.1109/MCS.2013.2287568.
Utkin, V. I. 1978. Sliding modes and their applications in variable structure systems. Moscow: Mir.
Utkin, V. I. 1992. Sliding modes in optimization and control problems. New York: Springer.
Wang, T., S. Tang, J. Guo, and H. Zhang. 2017a. “Two-phase optimal guidance law considering impact angle constraint with bearings-only measurements.” Int. J. Aerosp. Eng. 2017: 1–12. https://doi.org/10.1155/2017/1380531.
Wang, Y., Z. Liu, M. Sun, Z. Wang, and Z. Chen. 2017b. “Adaptive backstepping attitude control with disturbance rejection subject to amplitude and rate saturations of the elevator.” J. Aerosp. Eng. 30 (3): 04016095. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000696.
Wen, Y., L. Chen, D. Duan, and J. Liu. 2018a. “Robust fuzzy MPC for station-keeping of a multi-vectored propeller airship based on path following method.” In Proc., 2018 15th Int. Conf. on Control, Automation, Robotics and Vision (ICARCV), 889–894. New York: IEEE.
Wen, Y., W. Zhou, Y. Wang, H. Yan, K. Liang, and D. Duan. 2018b. “Sliding mode observer (SMO) based adaptive backstepping control for a multi-vectored propeller airship [1].” In Proc., 2018 5th Int. Conf. on Information, Cybernetics, and Computational Social Systems (ICCSS), 150–155. New York: IEEE.
Wu, X. 2011. “Modelling and control of a buoyancy driven airship.” Ph.D. thesis, Automatic Control Engineering, Ecole Centrale de Nantes, South China Univ. of Technology.
Xue, W., X. Zhu, X. Yang, H. Ye, and X. Chen. 2021. “A moving target tracking control of quadrotor UAV based on passive control and super-twisting sliding mode control.” Math. Probl. Eng. 2021: 1–17. https://doi.org/10.1155/2021/6627495.
Yamasaki, T., and S. Balakrishnan. 2010. “Preliminary assessment of flying and handling qualities of mini-UAVs.” J. Aerosp. Eng. 224 (10): 1057–1067.
Yamasaki, T., S. Balakrishnan, and H. Takano. 2012. “Integrated guidance and autopilot design for a chasing UAV via high-order sliding modes.” J. Franklin Inst. 349 (2): 531–558. https://doi.org/10.1016/j.jfranklin.2011.08.004.
Yang, Z., H. Wang, D. Lin, and L. Zang. 2016. “A new impact time and angle control guidance law for stationary and nonmaneuvering targets.” Int. J. Aerosp. Eng. 2016: 1–14. https://doi.org/10.1155/2016/6136178.
Yu, J., Q. Xu, and Y. Zhi. 2011. “A TSM control scheme of integrated guidance/autopilot design for UAV.” In Vol. 4 of Proc., 2011 3rd Int. Conf. on Computer Research and Development, 431–435. New York: IEEE.
Zheng, Z., L. Liu, and M. Zhu. 2016. “Integrated guidance and control path following and dynamic control allocation for a stratospheric airship with redundant control systems.” Proc. Inst. Mech. Eng., Part G: J. Aerosp. Eng. 230 (10): 1813–1826. https://doi.org/10.1177/0954410015613738.
Zheng, Z., and Y. Zou. 2016. “Adaptive integral LOS path following for an unmanned airship with uncertainties based on robust RBFNN backstepping.” ISA Trans. 65 (Nov): 210–219. https://doi.org/10.1016/j.isatra.2016.09.008.
Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 35 • Issue 2 • March 2022
Copyright
© 2021 American Society of Civil Engineers.
History
Received: Oct 29, 2020
Accepted: Oct 12, 2021
Published online: Nov 27, 2021
Published in print: Mar 1, 2022
Discussion open until: Apr 27, 2022
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.