You are here

A04 - Trajectory tracking for autonomous blimp

This paper presents the current status of the development of an autonomous blimp. Details are given on the hardware setup, which is currently almost operational. A flight decomposition allowing to define canonical navigation phases from takeoff to landing is proposed. For each phase a reduced model is determined and a controller is designed on the base of back-stepping techniques. This approach allows to consider the kinematic and dynamic requirement separately. Due to the decoupling properties, an equilibrium state is reached at the end of each flight phase, allowing to model easily the transition between them. Simulations of the different controllers are presented for a realistic model of blimp including, aerostatic, dynamic and aerodynamic effects.

Theme by Danetsoft and Danang Probo Sayekti inspired by Maksimer