| Full text | |
| Author(s): |
Total Authors: 3
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| Affiliation: | [1] Univ Tecn Lisboa, Dept Mech Engn, Inst Super Tecn, P-1049001 Lisbon - Portugal
[2] DRVC CenPRA, Ctr Pesquisas Renato Archer, BR-13069901 Campinas, SP - Brazil
Total Affiliations: 2
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| Document type: | Journal article |
| Source: | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL; v. 19, n. 4, p. 418-441, MAR 10 2009. |
| Web of Science Citations: | 48 |
| Abstract | |
In this paper we propose a nonlinear control approach for the path-tracking of an autonomous underactuated airship. A backstepping controller is designed from the airship nonlinear dynamic model including wind disturbances, and further enhanced to consider actuators saturation. Control implementation issues related to airship underactuation are also addressed, namely control allocation and an attitude reference shaping to obtain a faster error correction with smoother input requests. The results obtained demonstrate the capacity of an underactuated unmanned airship to execute a realistic mission including vertical take-off and landing, stabilization and path-tracking, in the presence of wind disturbances, with a single robust control law. Copyright (C) 2008 John Wiley \& Sons, Ltd. (AU) | |
| FAPESP's process: | 04/13467-5 - Visão e autonomia em robótica: VAuRobot |
| Grantee: | Samuel Siqueira Bueno |
| Support Opportunities: | Regular Research Grants |