A GAIN-SCHEDULING APPROACH FOR AIRSHIP PATH-TRACKING

Alexandra Moutinho, José Raul Azinheira

2006

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.

References

  1. A°str öm, K. J. and Wittenmark, B. (1989). Adaptive Control, chapter 9: Gain Scheduling, pages 343-371. AddisonWesley Publishing Company, 1st edition.
  2. Azinheira, J. R., de Paiva, E. C., and Bueno, S. S. (2002). Influence of wind speed on airship dynamics. Journal of Guidance, Control, and Dynamics, 25(6):1116- 1124.
  3. de Paiva, E. C., Azinheira, J. R., Ramos, J. J. G., Moutinho, A., and Bueno, S. S. (2006). Project AURORA airship: Robotic infrastructure and flight control experiments. Journal of Field Robotics.
  4. Elfes, A., Bueno, S. S., Bergerman, M., de Paiva, E. C., JR., J. G. R., and Azinheira, J. R. (2003). Robotic airships for exploration of planetary bodies with an atmosphere: Autonomy challenges. Autonomous Robots, (14):147-164.
  5. Elfes, A., Bueno, S. S., Bergerman, M., and Ramos, J. J. G. (1998). A semi-autonomous robotic airshipfor environmental monitoring missions. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 4, pages 3449-3455, Leuven, Belgium. IEEE Press.
  6. Hygounenc, E. and Souères, P. (2003). Lateral pathfollowing GPS-based control of a small-size unmanned blimp. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 1, pages 540-545, Taipei, Taiwan. IEEE Press.
  7. Khalil, H. K. (2000a). Nonlinear Systems, chapter 12: Feedback Control, pages 485-498. Prentice-Hall, Inc., 3rd edition.
  8. Khalil, H. K. (2000b). Nonlinear Systems. Prentice-Hall, Inc., 3rd edition.
  9. Merino, L., Caballero, F., de Dios, J. R. M., and Ollero, A. (2005). Cooperative fire detection using unmanned Rao, J., Gong, Z., Luo, J., and Xie, S. (2005). Unmanned airships for emergency managment. In Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, pages 125-130, Kobe, Japan. IEEE Press.
  10. Rugh, W. J. and Shamma, J. S. (2000). Research on gain scheduling - survey paper. Automatica, 36(10):1401- 1425.
  11. Silveira, G. F., Azinheira, J. R., Rives, P., and Bueno, S. S. (2003). Line following visual servoing for aerial robots combined with complementary sensors. In Proceedings of the IEEE 11th International Conference on Advanced Robotics, pages 1160-1165, Coimbra, Portugal. IEEE Press.
  12. Stevens, B. L. and Lewis, F. L. (1992). Aircraft Control and Simulation. John Wiley and Sons, Inc., USA.
  13. Xia, G. and Corbett, D. R. (2005). Cooperative control systems of searching targets using unmanned blimps. In Proceedings of the 5th Worth Congress on Intelligent Control and Automation, volume 2, pages 1179-1183, Hangzhou, P.R.China. IEEE Press.
Download


Paper Citation


in Harvard Style

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 2: ICINCO, ISBN 978-972-8865-60-3, pages 82-88. DOI: 10.5220/0001219800820088


in Bibtex Style

@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 2: ICINCO,},
year={2006},
pages={82-88},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001219800820088},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A GAIN-SCHEDULING APPROACH FOR AIRSHIP PATH-TRACKING
SN - 978-972-8865-60-3
AU - Moutinho A.
AU - Azinheira J.
PY - 2006
SP - 82
EP - 88
DO - 10.5220/0001219800820088