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Autonomous Path Tracking of a Kinematic Airship in Presence of Unknown Gust

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Abstract

The trajectory tracking problem of autonomous lighter than air vehicles in the presence of wind gusts is studied in this paper. The airship is represented as one point which is its center of volume, and only the kinematic equations are considered for the path tracking design. The control algorithm uses the Lyapunov theory and the Sontag’s universal stabilizing feedback. The proposed control laws are robust, by construction, with respect to uncertainties in the model and unknown external parameters. Numerical simulations are carried out to illustrate the performance of the proposed control strategy.

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Authors and Affiliations

  1. IBISC Laboratory, EA 4526, University of Evry, Evry, France

    Elie Kahale & Yasmina Bestaoui

  2. Heudiasyc Laboratory, UMR 7253, Université de Technologie de Compiègne, BP 20529, 60205, Compiègne cedex, France

    Pedro Castillo Garcia

Authors
  1. Elie Kahale
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  2. Pedro Castillo Garcia
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  3. Yasmina Bestaoui
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Correspondence to Pedro Castillo Garcia.

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Kahale, E., Castillo Garcia, P. & Bestaoui, Y. Autonomous Path Tracking of a Kinematic Airship in Presence of Unknown Gust. J Intell Robot Syst 69, 431–446 (2013). https://doi.org/10.1007/s10846-012-9709-2

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  • DOI: https://doi.org/10.1007/s10846-012-9709-2

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