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Hygounenc

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.

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