Trim Trajectories Characterization for an Unmanned Autonomous Airship

Salim Hima (1) , Yasmina Bestaoui (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

In this paper we propose an algorithm allowing the calculation of the trim trajectories for the airship. These trajectories are suitable for control, by linearizing the dynamic equations around the trim conditions, and hence simplifying significantly the controller synthesis. Another advantage related to trim trajectories consists in the simplification of the development of the aerodynamic parameters estimation algorithms. To ensure trim feasibility, a set of constraint relating to the dynamic equations of the airship, actuator saturation and other type of constraints are taken into account.

Domaines: Robotique [cs.RO]; Système multi-agents [cs.MA]; Automatique; Mécanique [physics.med-ph]; Mécanique des structures [physics.class-ph]; Automatique / Robotique

Salim Hima, Yasmina Bestaoui. Trim Trajectories Characterization for an Unmanned Autonomous Airship. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), 2006, Beijing, China. pp.137--142, ⟨10.1109/IROS.2006.281930⟩. ⟨hal-00342809⟩