TY - GEN
T1 - Robust Nonlinear Control of a Buoyancy-Driven Airship System Using Backstepping Integral Sliding Mode Control
AU - Mat-Noh, Maziyah
AU - Arshad, M. R.
AU - Mohd-Mokhtar, Rosmiwati
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - This paper presents the development of nonlinear robust control based on backstepping and sliding mode control system to control a longitudinal plane of a new concept of airship. Nature of autonomous airship is non-rigid body, very nonlinear and therefore control strategy can be used to accommodate the nonlinearities in the airship model. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation to evaluate its robustness against external disturbance and parameter variations. The controller is designed for the gliding path from 10° downward to 10° upward. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance around 25% better as compared to lowest performance of integral sliding mode and the undesired chattering in control input and sliding surface has been reduced almost 100%.
AB - This paper presents the development of nonlinear robust control based on backstepping and sliding mode control system to control a longitudinal plane of a new concept of airship. Nature of autonomous airship is non-rigid body, very nonlinear and therefore control strategy can be used to accommodate the nonlinearities in the airship model. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation to evaluate its robustness against external disturbance and parameter variations. The controller is designed for the gliding path from 10° downward to 10° upward. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance around 25% better as compared to lowest performance of integral sliding mode and the undesired chattering in control input and sliding surface has been reduced almost 100%.
KW - Backstepping
KW - Buoyancy-driven airship
KW - Integral sliding mode control
KW - Longitudinal plane
UR - http://www.scopus.com/inward/record.url?scp=85116424573&partnerID=8YFLogxK
U2 - 10.1007/978-981-16-2406-3_15
DO - 10.1007/978-981-16-2406-3_15
M3 - Conference Proceeding
AN - SCOPUS:85116424573
SN - 9789811624056
T3 - Lecture Notes in Electrical Engineering
SP - 171
EP - 189
BT - Proceedings of the 12th National Technical Seminar on Unmanned System Technology, NUSYS 2020
A2 - Isa, Khalid
A2 - Md. Zain, Zainah
A2 - Mohd-Mokhtar, Rosmiwati
A2 - Mat Noh, Maziyah
A2 - Ismail, Zool H.
A2 - Yusof, Ahmad Anas
A2 - Mohamad Ayob, Ahmad Faisal
A2 - Azhar Ali, Syed Saad
A2 - Abdul Kadir, Herdawatie
PB - Springer Science and Business Media Deutschland GmbH
T2 - 12th National Technical Seminar on Unmanned System Technology, NUSYS 2020
Y2 - 24 November 2020 through 25 November 2020
ER -