Abstract
In order to solve the question of attitude stabilization of autonomous airship during spot hovering, this paper proposes a fault-tolerant backstepping control law. The strict-feedback discrete-time dynamics model of airship is obtained via Euler approximation. The discrete control law is designed by using the backstepping method to make the system uniform stable. By applying two-level strong track filters, which can detect and isolate step bias or time-varying bias sensor fault in both single fault or simultaneous faults scenario, a fault-tolerant control law is constructed. The simulation results show that the method can achieve expected tracking performance and robustness.
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