A Neural Network Terminal Sliding Mode Track Control Method for Airship
A technology of terminal sliding mode and neural network, which is applied in three-dimensional position/course control, attitude control and other directions, and can solve problems such as uncertain models and uncertain airship models
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[0113] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0114] Step 1: Given command track
[0115] The given command track is:
[0116] n d =[x d ,y d ,z d ,θ d ,ψ d ,φ d ] T =[(1.5t)m,200sin(0.005t)m,10m,0rad,0.02rad,0rad] T , x d 、y d ,z d , θ d 、ψ d and φ d They are command x coordinate, command y coordinate, command z coordinate, command pitch angle, command yaw angle and command roll angle;
[0117] Step 2: Calculate the amount of error
[0118] Calculate the amount of error between the commanded track and the actual track:
[0119] e=η-η d =[x-x d ,y-y d ,z-z d ,θ-θ d ,ψ-ψ d ,φ-φ d ] T ,
[0120] where, η=[x,y,z...
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