Optimal tracking control for underactuated airship

Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of...
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Autor*in:	Atyya, Mohamed [verfasserIn] ElBayoumi, Gamal M. Lotfy, Mohamed

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2024

Schlagwörter:	Underactuated systems Airship modeling Linear time varying systems Linear quadratic regulator Linear quadratic tracking

Anmerkung:	© The Author(s) 2023

Übergeordnetes Werk:	Enthalten in: Journal of engineering and applied science - Berlin : Springer Berlin Heidelberg, 1999, 71(2024), 1 vom: 03. Jan.
Übergeordnetes Werk:	volume:71 ; year:2024 ; number:1 ; day:03 ; month:01

Links:	Volltext

DOI / URN:	10.1186/s44147-023-00324-3

Katalog-ID:	SPR054254752

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520			\|a Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance.
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allfields	10.1186/s44147-023-00324-3 doi (DE-627)SPR054254752 (SPR)s44147-023-00324-3-e DE-627 ger DE-627 rakwb eng Atyya, Mohamed verfasserin (orcid)0000-0002-0314-6908 aut Optimal tracking control for underactuated airship 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. Underactuated systems (dpeaa)DE-He213 Airship modeling (dpeaa)DE-He213 Linear time varying systems (dpeaa)DE-He213 Linear quadratic regulator (dpeaa)DE-He213 Linear quadratic tracking (dpeaa)DE-He213 ElBayoumi, Gamal M. aut Lotfy, Mohamed aut Enthalten in Journal of engineering and applied science Berlin : Springer Berlin Heidelberg, 1999 71(2024), 1 vom: 03. Jan. (DE-627)1735158240 (DE-600)3041047-2 2536-9512 nnns volume:71 year:2024 number:1 day:03 month:01 https://dx.doi.org/10.1186/s44147-023-00324-3 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 71 2024 1 03 01
spelling	10.1186/s44147-023-00324-3 doi (DE-627)SPR054254752 (SPR)s44147-023-00324-3-e DE-627 ger DE-627 rakwb eng Atyya, Mohamed verfasserin (orcid)0000-0002-0314-6908 aut Optimal tracking control for underactuated airship 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. Underactuated systems (dpeaa)DE-He213 Airship modeling (dpeaa)DE-He213 Linear time varying systems (dpeaa)DE-He213 Linear quadratic regulator (dpeaa)DE-He213 Linear quadratic tracking (dpeaa)DE-He213 ElBayoumi, Gamal M. aut Lotfy, Mohamed aut Enthalten in Journal of engineering and applied science Berlin : Springer Berlin Heidelberg, 1999 71(2024), 1 vom: 03. Jan. (DE-627)1735158240 (DE-600)3041047-2 2536-9512 nnns volume:71 year:2024 number:1 day:03 month:01 https://dx.doi.org/10.1186/s44147-023-00324-3 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 71 2024 1 03 01
allfields_unstemmed	10.1186/s44147-023-00324-3 doi (DE-627)SPR054254752 (SPR)s44147-023-00324-3-e DE-627 ger DE-627 rakwb eng Atyya, Mohamed verfasserin (orcid)0000-0002-0314-6908 aut Optimal tracking control for underactuated airship 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. Underactuated systems (dpeaa)DE-He213 Airship modeling (dpeaa)DE-He213 Linear time varying systems (dpeaa)DE-He213 Linear quadratic regulator (dpeaa)DE-He213 Linear quadratic tracking (dpeaa)DE-He213 ElBayoumi, Gamal M. aut Lotfy, Mohamed aut Enthalten in Journal of engineering and applied science Berlin : Springer Berlin Heidelberg, 1999 71(2024), 1 vom: 03. Jan. (DE-627)1735158240 (DE-600)3041047-2 2536-9512 nnns volume:71 year:2024 number:1 day:03 month:01 https://dx.doi.org/10.1186/s44147-023-00324-3 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 71 2024 1 03 01
allfieldsGer	10.1186/s44147-023-00324-3 doi (DE-627)SPR054254752 (SPR)s44147-023-00324-3-e DE-627 ger DE-627 rakwb eng Atyya, Mohamed verfasserin (orcid)0000-0002-0314-6908 aut Optimal tracking control for underactuated airship 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. Underactuated systems (dpeaa)DE-He213 Airship modeling (dpeaa)DE-He213 Linear time varying systems (dpeaa)DE-He213 Linear quadratic regulator (dpeaa)DE-He213 Linear quadratic tracking (dpeaa)DE-He213 ElBayoumi, Gamal M. aut Lotfy, Mohamed aut Enthalten in Journal of engineering and applied science Berlin : Springer Berlin Heidelberg, 1999 71(2024), 1 vom: 03. Jan. (DE-627)1735158240 (DE-600)3041047-2 2536-9512 nnns volume:71 year:2024 number:1 day:03 month:01 https://dx.doi.org/10.1186/s44147-023-00324-3 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 71 2024 1 03 01
allfieldsSound	10.1186/s44147-023-00324-3 doi (DE-627)SPR054254752 (SPR)s44147-023-00324-3-e DE-627 ger DE-627 rakwb eng Atyya, Mohamed verfasserin (orcid)0000-0002-0314-6908 aut Optimal tracking control for underactuated airship 2024 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. Underactuated systems (dpeaa)DE-He213 Airship modeling (dpeaa)DE-He213 Linear time varying systems (dpeaa)DE-He213 Linear quadratic regulator (dpeaa)DE-He213 Linear quadratic tracking (dpeaa)DE-He213 ElBayoumi, Gamal M. aut Lotfy, Mohamed aut Enthalten in Journal of engineering and applied science Berlin : Springer Berlin Heidelberg, 1999 71(2024), 1 vom: 03. Jan. (DE-627)1735158240 (DE-600)3041047-2 2536-9512 nnns volume:71 year:2024 number:1 day:03 month:01 https://dx.doi.org/10.1186/s44147-023-00324-3 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_2027 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 71 2024 1 03 01
language	English
source	Enthalten in Journal of engineering and applied science 71(2024), 1 vom: 03. Jan. volume:71 year:2024 number:1 day:03 month:01
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topic_facet	Underactuated systems Airship modeling Linear time varying systems Linear quadratic regulator Linear quadratic tracking
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authorswithroles_txt_mv	Atyya, Mohamed @@aut@@ ElBayoumi, Gamal M. @@aut@@ Lotfy, Mohamed @@aut@@
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The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. 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author	Atyya, Mohamed
spellingShingle	Atyya, Mohamed misc Underactuated systems misc Airship modeling misc Linear time varying systems misc Linear quadratic regulator misc Linear quadratic tracking Optimal tracking control for underactuated airship
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topic_title	Optimal tracking control for underactuated airship Underactuated systems (dpeaa)DE-He213 Airship modeling (dpeaa)DE-He213 Linear time varying systems (dpeaa)DE-He213 Linear quadratic regulator (dpeaa)DE-He213 Linear quadratic tracking (dpeaa)DE-He213
topic	misc Underactuated systems misc Airship modeling misc Linear time varying systems misc Linear quadratic regulator misc Linear quadratic tracking
topic_unstemmed	misc Underactuated systems misc Airship modeling misc Linear time varying systems misc Linear quadratic regulator misc Linear quadratic tracking
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title	Optimal tracking control for underactuated airship
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title_full	Optimal tracking control for underactuated airship
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title_sort	optimal tracking control for underactuated airship
title_auth	Optimal tracking control for underactuated airship
abstract	Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. © The Author(s) 2023
abstractGer	Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. © The Author(s) 2023
abstract_unstemmed	Abstract A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. © The Author(s) 2023
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title_short	Optimal tracking control for underactuated airship
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