Robust 3D tracking control of an underactuated autonomous airship

TL;DR

This paper introduces a robust sliding mode control algorithm for 3D trajectory tracking of underactuated airships, effectively handling system uncertainties and practical constraints, validated through simulations and real-world experiments.

Contribution

It proposes a novel unified control approach using sliding mode control for underactuated airships, considering real system uncertainties without decomposing the problem into 2D subproblems.

Findings

The control system achieves accurate 3D trajectory tracking in simulations.

Experimental results demonstrate robustness to measurement noise and delays.

The controller maintains stability and performance under uncertain dynamics.

Abstract

The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically motivated constraints, the algorithm assumes a highly uncertain system dynamics model. The tracking problem is solved in a uniform way, without dividing it into subtasks considered in 2D spaces, thanks to the introduction of an auxiliary tracking error. The proposed controller is based on the sliding mode approach. Its stability is investigated using Lyapunov theorem. Numerical simulations are conducted in order to verify properties of a closed-loop system for a generic model of the airship. Performance of the control system is examined via experiments in various scenarios using a prototype airship. The obtained results indicate that the control objectives are satisfied in practice with a reasonable accuracy. Moreover, it is shown that the controller is robust to some bounded additive measurement perturbations and delays in the control loop.