不確かさをもつ劣駆動飛行船システムの大域的ロバスト安定化と飛行実験(機械力学,計測,自動制御)

抄録

This paper considers the problem of controlling both the planar position and the orientation of an underactuated airship with a reduced number of actuators. The airship is a nonholonomic system described by a set of nonlinear equations and the dynamics are subject to bounded uncertainties. A smooth and time-varying coordinate transformation is utilized to reduce the robust stabilization problem of the airship to that of a linear time-invariant system. A new robust feedback controller is obtained for global stabilization of both the position and the orientation of the underactuated airship with parameter uncertainties. The proposed design method is simple and straightforward. Experiments are performed to validate the effectiveness of the proposed controller.