A sliding mode control with an adaptation of orientation of an underactuated airship
[ 1 ] Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | [ P ] employee
2013
paper
english
- airship
- sliding mode control
- underactuated systems
- mobile robots
EN In this paper new control method for an underactuated airship with a four-engines propulsion structure is presented. The novelty of the method are modified sliding surfaces for orientation, which were derived based on geometrical properties of the movement of an airship. Such approach helps to realize trajectories unsuitable for such underactuated system. The theoretical considerations are validated by a set of simulation tests.
240 - 245
WoS (15)