A backstepping controller for path-tracking of an underactuated autonomous airship

Autor(es)

Azinheira, Jose Raul ^[1] ; Moutinho, Alexandra ^[1] ; de Palva, Ely Carneiro ^[2]

Afiliação do(s) autor(es)

^[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

• Tipo de documento: Artigo Científico
• Fonte: INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL; v. 19, n. 4, p. 418-441, MAR 10 2009.
• Citações Web of Science: 48

Resumo

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)

• Processo FAPESP: 04/13467-5 - Visão e autonomia em robótica: VAuRobot
• Beneficiário: Samuel Siqueira Bueno
• Modalidade de apoio: Auxílio à Pesquisa - Regular