›› 2012, Vol. 32 ›› Issue (4): 29-36.doi: 10.3780/j.issn.1000-758X.2012.04.005

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Terminal Sliding Mode Control for Attitude Tracking of an Autonomous Airship

Yang Yueneng,Wu Jie,Zheng Wei   

  1. (College of Aerospace and Materials Engineering, National University of Defense Technology,Changsha 410073
  • Received:2011-09-13 Revised:2011-12-05 Online:2012-08-25 Published:2012-08-25

Abstract: The attitude control system of an autonomous airship is a multi-input multi-output, nonlinear, coupled and uncertain system. A new control scheme based on feedback linearization and terminal sliding mode for attitude tracking control was proposed. Firstly, the mathematical model of the attitude motion of an airship was derived in form of a nonlinear system. Secondly, the nonlinear attitude control system was decoupled into three single-input single-output linear systems based on the differential geometry theory. The attitude tracking control system was designed by using the terminal sliding mode control method, and the stability of the closed loop system was proven by using the Lyapunov theorem. Finally, simulation results demonstrate that the control system tracks the commanded attitude angles precisely despite of model uncertainties, which verifies the effectiveness and robustness of the proposed control scheme.

Key words: Attitude control, Feedback linearization, Terminal sliding mode, Airship