Nonlinear Control of a Buoyancy Driven Airship

Xiaotao . Wu (1) , Claude Moog (1) , L. A. Marquez Martinez (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CICESE - Centro de Investigacion Cientifica y de Education Superior de Ensenada [Mexico]

The control of a new kind of airship is presented. By restricting its flight to a vertical plane, the athematical model is reduced. The simplified model is proved to be minimum phase, and a nonlinear controller based on inputoutput linearization is designed. Since the performance of the controller is significantly impacted by the choice of parameters, simulations of three different pole placement strategies are presented. The nonlinear controller shows better performances than a linear LQR controller when the initial condition is significantly away from the desired equilibrium.

Domaines: Automatique / Robotique

Xiaotao . Wu, Claude Moog, L. A. Marquez Martinez. Nonlinear Control of a Buoyancy Driven Airship. 48th IEEE Conference on Decision and Control, CDC'09, Dec 2009, shanghai, China. pp.5. ⟨hal-00405431⟩