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Authors: Alexandra Moutinho and José Raul Azinheira

Affiliation: IDMEC - IST, Portugal

Keyword(s): UAV, gain-scheduling, path-tracking, optimal control, airship.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Space and Underwater Robotics ; Vehicle Control Applications

Abstract: In this paper a gain scheduled optimal controller is designed to solve the path-tracking problem of an airship. The control law is obtained from a coupled linear model of the airship that allows to control the longitudinal and lateral motions simultaneously. Due to the importance of taking into account wind effects, which are rather important due to the airship large volume, the wind is included in the kinematics, and the dynamics is expressed as function of the air velocity. Two examples are presented with the inclusion of wind, one considering a constant wind input and the other considering in addition a 3D turbulent gust, demonstrating the effectiveness of this single controller tracking a reference path over the entire flight envelope.

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Paper citation in several formats:
Moutinho, A. and Azinheira, J. (2006). A GAIN-SCHEDULING APPROACH FOR AIRSHIP PATH-TRACKING. In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 82-88. DOI: 10.5220/0001219800820088

@conference{icinco06,
author={Alexandra Moutinho. and José Raul Azinheira.},
title={A GAIN-SCHEDULING APPROACH FOR AIRSHIP PATH-TRACKING},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2006},
pages={82-88},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001219800820088},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A GAIN-SCHEDULING APPROACH FOR AIRSHIP PATH-TRACKING
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Moutinho, A.
AU - Azinheira, J.
PY - 2006
SP - 82
EP - 88
DO - 10.5220/0001219800820088
PB - SciTePress