Initial conditions for the estimator.
<div><p>The robotic airship can be used as an aerostatic platform for many potential applications, for example, communication, hovering payload deliveries, data-gathering for research studies, etc. These applications require a fully autonomous perspective of an airship. One of the import...
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2025
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| _version_ | 1852015258008289280 |
|---|---|
| author | Muhammad Wasim (8319120) |
| author2 | Ahsan Ali (6478244) Faisal Saleem (1872289) Inam Ul Hasan Shaikh (11654934) Jamshed Iqbal (82302) |
| author2_role | author author author author |
| author_facet | Muhammad Wasim (8319120) Ahsan Ali (6478244) Faisal Saleem (1872289) Inam Ul Hasan Shaikh (11654934) Jamshed Iqbal (82302) |
| author_role | author |
| dc.creator.none.fl_str_mv | Muhammad Wasim (8319120) Ahsan Ali (6478244) Faisal Saleem (1872289) Inam Ul Hasan Shaikh (11654934) Jamshed Iqbal (82302) |
| dc.date.none.fl_str_mv | 2025-10-31T17:41:46Z |
| dc.identifier.none.fl_str_mv | 10.1371/journal.pone.0335392.t002 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/dataset/Initial_conditions_for_the_estimator_/30503410 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Inorganic Chemistry Computational Biology Space Science Environmental Sciences not elsewhere classified Biological Sciences not elsewhere classified Mathematical Sciences not elsewhere classified Chemical Sciences not elsewhere classified Information Systems not elsewhere classified unscented kalman filter uncertain nonlinear dynamics sliding mode controller simulation results show hovering payload deliveries fully autonomous perspective estimated lumped uncertainty robust adaptive control lumped model uncertainty many potential applications trajectory tracking control lumped model uncertainties wind disturbance estimation lyapunov stability analysis airship trajectory tracking model uncertainties wind disturbance ultimate control desired trajectory applications require xlink "> usmc ), robotic airship research studies proposed method paper addresses method solves major challenge investigated using important aspects comprehensive algorithm chattering problem bound constraint airship autonomy aerostatic platform |
| dc.title.none.fl_str_mv | Initial conditions for the estimator. |
| dc.type.none.fl_str_mv | Dataset info:eu-repo/semantics/publishedVersion dataset |
| description | <div><p>The robotic airship can be used as an aerostatic platform for many potential applications, for example, communication, hovering payload deliveries, data-gathering for research studies, etc. These applications require a fully autonomous perspective of an airship. One of the important aspects of airship autonomy is trajectory tracking control. An airship has complex and uncertain nonlinear dynamics which pose a major challenge for designing a precise trajectory tracking control. This paper addresses the airship trajectory tracking control problem under model uncertainties and wind disturbance. We propose a lumped model uncertainties and wind disturbance estimation approach based on an unscented Kalman filter. The estimated lumped uncertainty is used by the Sliding Mode Controller (SMC) for ultimate control of airship trajectory tracking. This comprehensive algorithm, Unscented Kalman filter-based Sliding Mode Controller (USMC), is used as a robust adaptive control solution to track the desired trajectory. The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis. Simulation results show that the proposed method efficiently tracks the desired trajectory. The method solves the stability, convergence, and chattering problem of SMC without the bound constraint of model uncertainties and wind disturbance.</p></div> |
| eu_rights_str_mv | openAccess |
| id | Manara_88d4f7c8eb26b7dff8cf63fa1719be3a |
| identifier_str_mv | 10.1371/journal.pone.0335392.t002 |
| network_acronym_str | Manara |
| network_name_str | ManaraRepo |
| oai_identifier_str | oai:figshare.com:article/30503410 |
| publishDate | 2025 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | Initial conditions for the estimator.Muhammad Wasim (8319120)Ahsan Ali (6478244)Faisal Saleem (1872289)Inam Ul Hasan Shaikh (11654934)Jamshed Iqbal (82302)Inorganic ChemistryComputational BiologySpace ScienceEnvironmental Sciences not elsewhere classifiedBiological Sciences not elsewhere classifiedMathematical Sciences not elsewhere classifiedChemical Sciences not elsewhere classifiedInformation Systems not elsewhere classifiedunscented kalman filteruncertain nonlinear dynamicssliding mode controllersimulation results showhovering payload deliveriesfully autonomous perspectiveestimated lumped uncertaintyrobust adaptive controllumped model uncertaintymany potential applicationstrajectory tracking controllumped model uncertaintieswind disturbance estimationlyapunov stability analysisairship trajectory trackingmodel uncertaintieswind disturbanceultimate controldesired trajectoryapplications requirexlink ">usmc ),robotic airshipresearch studiesproposed methodpaper addressesmethod solvesmajor challengeinvestigated usingimportant aspectscomprehensive algorithmchattering problembound constraintairship autonomyaerostatic platform<div><p>The robotic airship can be used as an aerostatic platform for many potential applications, for example, communication, hovering payload deliveries, data-gathering for research studies, etc. These applications require a fully autonomous perspective of an airship. One of the important aspects of airship autonomy is trajectory tracking control. An airship has complex and uncertain nonlinear dynamics which pose a major challenge for designing a precise trajectory tracking control. This paper addresses the airship trajectory tracking control problem under model uncertainties and wind disturbance. We propose a lumped model uncertainties and wind disturbance estimation approach based on an unscented Kalman filter. The estimated lumped uncertainty is used by the Sliding Mode Controller (SMC) for ultimate control of airship trajectory tracking. This comprehensive algorithm, Unscented Kalman filter-based Sliding Mode Controller (USMC), is used as a robust adaptive control solution to track the desired trajectory. The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis. Simulation results show that the proposed method efficiently tracks the desired trajectory. The method solves the stability, convergence, and chattering problem of SMC without the bound constraint of model uncertainties and wind disturbance.</p></div>2025-10-31T17:41:46ZDatasetinfo:eu-repo/semantics/publishedVersiondataset10.1371/journal.pone.0335392.t002https://figshare.com/articles/dataset/Initial_conditions_for_the_estimator_/30503410CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/305034102025-10-31T17:41:46Z |
| spellingShingle | Initial conditions for the estimator. Muhammad Wasim (8319120) Inorganic Chemistry Computational Biology Space Science Environmental Sciences not elsewhere classified Biological Sciences not elsewhere classified Mathematical Sciences not elsewhere classified Chemical Sciences not elsewhere classified Information Systems not elsewhere classified unscented kalman filter uncertain nonlinear dynamics sliding mode controller simulation results show hovering payload deliveries fully autonomous perspective estimated lumped uncertainty robust adaptive control lumped model uncertainty many potential applications trajectory tracking control lumped model uncertainties wind disturbance estimation lyapunov stability analysis airship trajectory tracking model uncertainties wind disturbance ultimate control desired trajectory applications require xlink "> usmc ), robotic airship research studies proposed method paper addresses method solves major challenge investigated using important aspects comprehensive algorithm chattering problem bound constraint airship autonomy aerostatic platform |
| status_str | publishedVersion |
| title | Initial conditions for the estimator. |
| title_full | Initial conditions for the estimator. |
| title_fullStr | Initial conditions for the estimator. |
| title_full_unstemmed | Initial conditions for the estimator. |
| title_short | Initial conditions for the estimator. |
| title_sort | Initial conditions for the estimator. |
| topic | Inorganic Chemistry Computational Biology Space Science Environmental Sciences not elsewhere classified Biological Sciences not elsewhere classified Mathematical Sciences not elsewhere classified Chemical Sciences not elsewhere classified Information Systems not elsewhere classified unscented kalman filter uncertain nonlinear dynamics sliding mode controller simulation results show hovering payload deliveries fully autonomous perspective estimated lumped uncertainty robust adaptive control lumped model uncertainty many potential applications trajectory tracking control lumped model uncertainties wind disturbance estimation lyapunov stability analysis airship trajectory tracking model uncertainties wind disturbance ultimate control desired trajectory applications require xlink "> usmc ), robotic airship research studies proposed method paper addresses method solves major challenge investigated using important aspects comprehensive algorithm chattering problem bound constraint airship autonomy aerostatic platform |