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Conference papers
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.
https://hal.archives-ouvertes.fr/hal-00880293
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Tuesday, November 5, 2013 - 5:06:22 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:08 AM
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Tuesday, November 5, 2013 - 5:06:22 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:08 AM
