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|Title:||Airship robust path-tracking : a tutorial on airship modelling and gain-scheduling control design|
Azinheira, José Raul
Paiva, Ely C. de
Bueno, Samuel S.
|Abstract:||This paper provides a tutorial view on airship path-tracking under wind disturbances. It addresses the relevant aspects towards this objective, namely the airship modelling, the dynamics analysis over the flight envelope, and the step-by-step design of a gain-scheduling control. The required parts to build a proper airship simulator are given: airship dynamics and actuation, and wind disturbances. A path-tracking gain-scheduling controller is designed and its performance and robustness evaluated in the simulation environment described for a complete airship mission consisting of vertical takeoff and landing, cruise flight and ground-hover, under realistic wind disturbances. Throughout the paper, considerations are done regarding the airship behavior and limitations, as well as what can be accomplished and how|
|Subject:||Programas de rastreamento|
|Appears in Collections:||FEM - Artigos e Outros Documentos|
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