loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Alexandra Moutinho and José Raul Azinheira

Affiliation: IDMEC - IST, Portugal

ISBN: 978-972-8865-60-3

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.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.232.99.123

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Moutinho A.; Azinheira J. and (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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.