DocumentCode
3262260
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
fYear
2013
fDate
3-5 July 2013
Firstpage
240
Lastpage
245
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location
Kuslin
Print_ISBN
978-1-4673-5510-0
Type
conf
DOI
10.1109/RoMoCo.2013.6614615
Filename
6614615
Link To Document