Modeling and actuators design of an unconventional airship

Mahmoud Khamlia (1) , Selima Bennaceur (1) , Naoufel Azouz (2) , Sarra Samaali (1) , Azgal Abichou (1) , Jean Lerbet (2)

1 LIM - Laboratoire d'Ingénierie Mathématique
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents a dynamic modeling of a quadrotor flying wing airship. This airship is a scale model of airships dedicated for freight transport. It is equipped with steerable thrusters that made over-actuated. A control strategy based on the linearization of the local equation and the use of backstepping control is applied to this model. We made a focus on the relations between the control vectors obtained from the control strategy and the response of the airship actuators. Numerical results show the benefits of the proposed algorithm.

Mots clés: unmanned aerial vehicle; dynamics model; over-actuated system; controls-actuators relations

Domaines: Automatique / Robotique; Mécanique [physics.med-ph]

Mahmoud Khamlia, Selima Bennaceur, Naoufel Azouz, Sarra Samaali, Azgal Abichou, et al.. Modeling and actuators design of an unconventional airship. ASME International Mechanical Engineering Congress and Exposition (IMECE 2015), Nov 2015, Houston, United States. ⟨10.1115/IMECE2015-51475⟩. ⟨hal-01354277⟩