Lateral Control of Airship with Uncertain Dynamics using Incremental Nonlinear Dynamics Inversion. Issue 19 (2015)

• Record Type: Journal Article
• Authors: Azinheira, J.R.; Moutinho, A.; Carvalho, J.R.
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 19(2015)
• Page Start: 69
• Page End: 74
• Publication Date: 2015
• Subjects: Sensor-based control -- uncertain dynamics -- airship control -- flight guidance -- incremental control -- robustness; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.12.012
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper addresses the lateral control of an underactuated airship with uncertain dynamics model. It proposes an incremental nonlinear dynamics inversion (INDI) approach to successfully achieve the system desired behavior without requiring the knowledge and realtime feedback of the airship state-only dependent dynamics, namely kinematics, gravitational and (part of) aerodynamic forces, mandatory for model-based control strategies. The stability and robustness of the proposed sensor-based control solution are assessed with representative simulation results, including wind disturbances and a path following loop.