LPV based robust MPC for a multi-vectored airship

This paper develops a linear parameter varying(LPV) based robust model predictive control(MPC) method for a multi-vectored airship, the speed of the forward flight channel is considered. The nonlinear model of the airship is introduced with kinematics and dynamics. Then, in order to obtain the LPV models, the small perturbation linearization method is used. After that, the higher order singular value decomposition (HOSVD) based Tensor Product(TP) model transformation is used, which is capable of uniformly transforming LPV models into polytopic forms and reduce the vertexes of it. The feedback control law is derived by using robust MPC theory that minimise a min-max cost function. Simulation results for the forward velocity control of the multi-vectored airship are illustrated to prove robustness and effectiveness of the proposed method.