DocumentCode
3531149
Title
Position-trajectory control system for robot on base of airship
Author
Pshikhopov, V. ; Medvedev, M. ; Gaiduk, A. ; Belyaev, V. ; Fedorenko, R. ; Krukhmalev, V.
Author_Institution
Southern Fed. Univ., Rostov-on-Don, Russia
fYear
2013
fDate
10-13 Dec. 2013
Firstpage
3590
Lastpage
3595
Abstract
This work is devoted to control system of unmanned robotized airship. Mathematical model is analyzed for controllability. Position-trajectory control system on the base of high-order nonlinear interrelated model of airship is suggested. System adaptation is implemented with robust estimation algorithms. Use of redundant control channels is solved on the base of minimum of applied control actions. Experimental results of system functioning are presented.
Keywords
airships; controllability; position control; remotely operated vehicles; robust control; trajectory control; controllability; high-order nonlinear interrelated model; position-trajectory control system; redundant control channels; robust estimation algorithms; unmanned robotized airship; Control systems; Estimation; Silicon;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location
Firenze
ISSN
0743-1546
Print_ISBN
978-1-4673-5714-2
Type
conf
DOI
10.1109/CDC.2013.6760435
Filename
6760435
Link To Document