In this article, equations of motion for a two-rotor airship are derived. Moreover, the problem of engine applied forces and torques is analysed, and a trajectory generator is described and implemented into a proportional–derivative control scheme. The theoretical considerations are validated by a set of simulation tests. The simulation model takes into account the structure of the drives, namely the two engines placed symmetrically on both sides of the object. The conducted simulations validate the robustness of the controller in the case of unexpected disturbance occurrence.
AzinheiraJRMoutinhoADe PaivaEC. A backstepping controller for path-tracking of an underactuated autonomous airship. Int J Robust Nonlinear Control2009; 19(4): 418–441.
2.
BichoEMoreiraACarvalheiraMAutonomous flight trajectory generation via attractor dynamicsIn: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 (IROS 2005)Edmonton, Alberta, Canada, 2–6 August 2005, Piscataway, NJ: IEEE Operations Center, pp. 1379–1385.
3.
BijkerJSteynW. Kalman filter configurations for a low-cost loosely integrated inertial navigation system on an airship. Control Eng Prac2008; 16(12): 1509–1518.
4.
FryeMTGammonSMQianCThe 6-DOF dynamic model and simulation of the tri-turbofan remote-controlled airship9–13 July 2007, Piscataway, NJ: IEEE Operations CenterIn: American Control Conference, 2007New York, NYACC '07816–821
HygounencEJungISoueresP. The autonomous blimp project of LAAS-CNRS: achievements in flight control and terrain mapping. Int J Rob Res2004; 23(4–5): 473–511.
7.
De PaivaECAzinheiraJRRamosJGJrMoutinhoABuenoSS. Project AURORA: Infrastructure and flight control experiments for a robotic airship. J Field Rob2006; 23(3–4): 201–222.
8.
SolaqueLLacroixS. Airship control. In: OlleroAMazaI (eds) Multiple unmanned aerial vehicles. Vol. 37 of Tracts on advanced robotics. Berlin: Springer, 2007, pp. 147–188, 2007.
9.
ElfesABuenoSSBergermanMDe PaivaECRamosJGJrAzinheiraJR. Robotic airships for exploration of planetary bodies with an atmosphere: Autonomy challenges. Auton Robots2003; 14(2–3): 147–164.
10.
KornienkoASystem identification approach for determining flight dynamical characteristics of an airship from flight data2006PhD Thesis, University of Stutgart, Stuttgart, Germany, 2006.
11.
MoutinhoAAzinheiraJRStability and robustness analysis of the AURORA airship control system using dynamic inversionIn: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005, Barcelona, Spain, 18–22 April 2005, Piscataway, NJ: IEEE Operations Center, pp. 2265–2270.
12.
MoutinhoA. Modeling and nonlinear control for airship autonomous flight. PhD Thesis, Technical University of Lisbon: Lisbon, 2007.
13.
SolaqueLPinzonZDuqueMNonlinear Control of the Airship Cruise Flight Phase with Dynamical Decoupling2008In: Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08. Morelos, Mexico, 2008, September 30–3 October, Los Alamitos, CA: West Coast Office, pp. 472–477.
14.
KozłowskiKWróblewskiWDutkiewiczP. Modelowanie i Sterowanie Robotów. Warszawa: Wydawnictwo Naukowe PWN, 2003(in Polish).
15.
FossenTI. Guidance and control of ocean vehicles. New York: John Wiley & Sons, 1994, pp. 6–12, 30–47.
16.
LiY. Dynamics modeling and simulation of flexible airships. PhD Thesis, Montreal, Canada: McGill University, 2008.
17.
SicilianoBKhatibO. Springer handbook of robotics, 1st ed. Berlin: Springer, 2008, pp. 10–18, 37–43.
18.
BestaouiYKuhlmannHA newton Euler approach to modeling of a quad-rotor autonomous airship - preliminary resultsIn: 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. American Institute of Aeronautics and Astronautics, Orlando, Florida, 4–7 January 2010, Reston, VA: American Institute of Aeronautics and Astronautics, Inc.
19.
KhouryGAGillettJD. Airship technology (Cambridge Aerospace Series). New York: Cambridge University Press, 2004, pp. 39–71.
20.
AdamskiWHermanPBestaouiYKozłowskiKControl of airship in case of unpredictable environment conditionsIn: Conference on control and fault-tolerant systems-SysTol'10, Nice, France, 6–8 October 2010, Piscataway, NJ: IEEE Operations Center, pp. 843–848.
21.
Bestaoui Y. Characteristics of the airhip AS-500. Unpublished report, 2007.
