Authors

Zili Cai, Weidong Qu, Yugeng Xi, Yongjun Wang

Abstract

This paper focuses on feedback stabilization of a neutrally buoyant and bottom‐heavy airship actuated by only five independent controls (with the rolling motion underactuated). The airship is modelled as an eudipleural submerged rigid body whose dynamics is formulated as a Hamiltonian system with respect to a Lie–Poisson structure. By exploiting the geometrical structure and using the so‐called interconnection and damping assignment (IDA) passivity‐based methodology for port‐controlled Hamiltonian systems, state feedback control laws asymptotically stabilizing two typical motions are designedviaLa Salle invariance principle and Chetaev instability theorem. Simulation results verify the control laws. Copyright © 2007 John Wiley & Sons, Ltd.

Citation

  • Journal: International Journal of Robust and Nonlinear Control
  • Year: 2007
  • Volume: 17
  • Issue: 18
  • Pages: 1690–1715
  • Publisher: Wiley
  • DOI: 10.1002/rnc.1187

BibTeX

@article{Cai_2007,
  title={{Stabilization of an underactuated bottom‐heavy airshipviainterconnection and damping assignment}},
  volume={17},
  ISSN={1099-1239},
  DOI={10.1002/rnc.1187},
  number={18},
  journal={International Journal of Robust and Nonlinear Control},
  publisher={Wiley},
  author={Cai, Zili and Qu, Weidong and Xi, Yugeng and Wang, Yongjun},
  year={2007},
  pages={1690--1715}
}

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