文献类型：期刊文献

英文题名：Reliable Intelligent Path Following Control for a Robotic Airship Against Sensor Faults

作者：Wang, Yueying[1];Zhou, Weixiang[2];Luo, Jun[1];Yan, Huaicheng[3];Pu, Huayan[1];Peng, Yan[1]

机构：[1]Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China;[2]Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China;[3]East China Univ Sci & Technol, Sch Informat Sci & Engn, Shanghai 200237, Peoples R China

年份：2019

卷号：24

期号：6

起止页码：2572

外文期刊名：IEEE-ASME TRANSACTIONS ON MECHATRONICS

收录：;EI(收录号：20200308045195);WOS:【SCI-EXPANDED(收录号:WOS:000506621800014)】；

基金：This work was supported in part by the National Science Fund of China for Distinguished Young Scholars under Grant 61525305 and in part by the National Natural Science Foundation of China under Grant 61703275 and Grant 61673178.

语种：英文

外文关键词：Robot sensing systems; Atmospheric modeling; Mathematical model; Backstepping; Uncertainty; Control systems; Adaptive backstepping sliding mode control; adaptive neuro-fuzzy inference system (ANFIS); path following control; robotic airship; sensor faults

摘要：This paper presents a reliable intelligent path following control method for a robotic airship subject to sensor faults. First, an adaptive backstepping sliding mode controller is designed based on the six degrees of freedom model of airship, where the backstepping technique is used to obtain the desired velocities, and the adaptive sliding mode method is adopted to deal with the unknown model uncertainties. The stabilization of the whole path following control system is studied based on Lyapunov stability theory. Specially, since the measured data in the airship control system are interrelated, a data-driven soft sensor based on adaptive neuro-fuzzy inference system is designed to detect and isolate the sensor fault. Based on the developed detection and isolation mechanism, the airship control system still work well in the presence of sensor fault. Finally, simulations are given to demonstrate the effectiveness of the proposed path following strategy.