書誌事項
- タイトル別名
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- Global Position and Attitude Control of an Airship System Against a Constant Wind Disturbance(Mechanical Systems)
- 定常風に対する飛行船システムの大域的な位置と姿勢の制御
- テイジョウフウ ニ タイスル ヒコウセン システム ノ タイイキテキ ナ イチ ト シセイ ノ セイギョ
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This paper considers the problem of controlling both the planar position and the attitude of an underactuated airship with a reduced number of actuators in the presence of a persistant wind disturbance. The airship is a nonholonomic system described by a set of nonlinear equations. A smooth and time-varying coordinate transformation and an integrator are utilized to reduce the disturbance rejection problem of the airship to a simple stabilization problem of a linear time-invariant system. A new feedback controller with integrator provides both global stabilization of the airship system and global asymptotical rejection against the wind disturbance. The proposed design method is simple and straightforward. Experiments are performed to validate the effectiveness of the proposed controller.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 76 (767), 1770-1779, 2010
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001206386011648
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- NII論文ID
- 110007682169
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 10784615
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可