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Robust planar position control of an autonomous airship

Abstract : The nonlinear planar dynamic model of an underactuated autonomous airship and its position/orientation control are addressed, for moderate-amplitude sinusoidal perturbation in three directions. The dynamic model, even if it is reduced into a plan, it presents some strong coupling terms due to the non coincidence of buoyancy and gravity centers and the presence of added masses while two control acting on the airship model. A nonlinear control law is proposed that guaranteed the convergence of the airship in the neighborhood of a desired point in presence of perturbations. Numerical results are presented to show the effectiveness of the proposed nonlinear control law.
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https://hal.archives-ouvertes.fr/hal-00880293
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, November 5, 2013 - 5:06:22 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:08 AM

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  • HAL Id : hal-00880293, version 1

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S. Samaali, Lotfi Beji, Azgal Abichou. Robust planar position control of an autonomous airship. 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2011), Sep 2011, Paris, France. pp.311--320. ⟨hal-00880293⟩

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