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Finite-time path following control for a stratospheric airship with input saturation and error constraint
Published in International Journal of Control, 2019
Zewei Zheng, Lihua Xie
We research a stratospheric airship that uses helium to provide buoyancy and performs a classical ellipsoidal ballonet as illustrated in Figure 1. Without loss of generality, as shown in Figure 1, we first define the frames. The earth reference frame (ERF) is fixed to the earth with its origin Og located at a fixed point on the ground. The Ogxg axis points north, the Ogzg axis points to the earth core, and the Ogyg axis points the east. The body reference frame (BRF) is attached to the airship with its origin O coincident with the centre of volume. The Ox axis points to the head of the airship. The Oz axis is perpendicular to the Ox axis and points downwards. The Oy axis is determined by the right-hand rule and points towards the right.