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Stability and Robustness Analysis of the AURORA Airship Control System using Dynamic Inversion | IEEE Conference Publication | IEEE Xplore

Stability and Robustness Analysis of the AURORA Airship Control System using Dynamic Inversion


Abstract:

This paper presents a stability and robustness analysis of a nonlinear control system for the autonomous airship of the AURORA project. A Dynamic Inversion controller is ...Show More

Abstract:

This paper presents a stability and robustness analysis of a nonlinear control system for the autonomous airship of the AURORA project. A Dynamic Inversion controller is implemented with desired dynamics given by a linear optimal compensator. The stability analysis of the nonlinear system is done applying Lyapunov’s stability theory. Robustness tests are performed in order to verify the nonlinear controller performance in face of disturbances and model parameters errors. The results obtained illustrate the overall system robustness, and point at the most sensitive model parameters of the AURORA airship, for which a more careful identification/determination should be carried.
Date of Conference: 18-22 April 2005
Date Added to IEEE Xplore: 10 January 2006
Print ISBN:0-7803-8914-X
Print ISSN: 1050-4729
Conference Location: Barcelona, Spain

I. Introduction

After 60 years of near oblivion, the use of airships seems to have been rediscovered. Nowadays, airships are being used both for heavy freight aerial transport and for small indoor or outdoor advertising or surveillance tasks. The work presented in this paper, developed in the frame of the Portuguese DIVA project, is based on the dynamic model of the AURORA airship and is part of the effort applied to mature and propose solutions for small autonomous airships to be used in aerial monitoring and surveillance [1].

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References

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