Title :
A sliding mode control with an adaptation of orientation of an underactuated airship
Author :
Adamski, Wojciech
Author_Institution :
Control & Syst. Eng., Poznan Univ. of Technol., Poznań, Poland
Abstract :
In this paper new control method for an underactuated airship with a four-engines propulsion structure is presented. The novelty of the method are modified sliding surfaces for orientation, which were derived based on geometrical properties of the movement of an airship. Such approach helps to realize trajectories unsuitable for such underactuated system. The theoretical considerations are validated by a set of simulation tests.
Keywords :
aerospace propulsion; airships; geometry; variable structure systems; four-engines propulsion structure; geometrical properties; modified sliding surfaces; orientation adaptation; simulation tests; sliding mode control; underactuated airship; Aerodynamics; Engines; Equations; Propulsion; Sliding mode control; Trajectory; Vectors; airship; mobile robots; sliding mode control; underactuated systems;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location :
Kuslin
Print_ISBN :
978-1-4673-5510-0
DOI :
10.1109/RoMoCo.2013.6614615
