An adaptive wind-resistant path tracking control method for unmanned airship
A path tracking and unmanned airship technology, applied in three-dimensional position/channel control and other directions, can solve problems such as not considering the external wind field, achieve the effect of ensuring global asymptotic stability, improving tracking performance, and eliminating path tracking errors
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[0042] Below in conjunction with accompanying drawing, each part design method in the present invention is further described:
[0043] "A self-adaptive wind-resistant path tracking control method for unmanned airship" of the present invention, see figure 1 As shown, the specific steps are as follows: Step 1: Given the expected tracking value
[0044] 1) Given the desired plane path is the path parameter, x p ,y p Desired position for the airship.
[0045] 2) Given the desired speed as u rc =C, C>0 is a constant.
[0046] Step 2: Adaptive integral guidance calculation
[0047] 1) Calculate the orientation angle of the desired path reference point
[0048] 2) Calculate the error between the current position of the airship and the reference point of the expected path [x,y] T is the current position of the unmanned airship.
[0049] 3) Calculate the adaptive law of wind field estimation k θx ,k θy>0 is an adaptive parameter, and the estimated value of the win...
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