Lateral Path Controller Design for Autonomous Airship

According to the path control problem for unmanned autonomous airship, the lateral path mathematic model was introduced based on the scheme of control system and a kind of lateral path design method of autonomous airship is proposed based on fuzzy logic and adaptive sliding mode control (ASMC). The movement model and dynamic model of autonomous airship is derived from considering the coupling mutual actions of the channels. The fuzzy logic is used to adjust the controller by fuzzy inference rulers in different conditions, and specified lateral path angle was determined to eliminate path to and fro. The attitude control system was designed by ASMC theory, which was robust to parametric perturbations and external disturbances. Finally simulation results show that the proposed control scheme can make the autonomous airship´s attitude stable and lateral path track, and this new method present a feasible and effective way to solve path control problem of autonomous airship.