PD-computed torque control for an autonomous airship

Abstract

For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation who results show that Computed Torque control method is suitable for airships.