A Backstepping Approach for Airship Autonomous Robust Control


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Abstract


In this paper, we present the robust control of a dirigible airship. In the first part of this paper, kinematics and dynamics modeling of autonomous airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Backstepping control is introduced. In the second part of the paper, we develop a methodology of control that allows the dirigible to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation who results show that Backstepping control method is suitable for airships.
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Keywords


Autonomous Airship; Blimp; Backstepping Control; Lyapunov Function

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