Fixed point control of high altitude airship based on state estimations and the characteristic model

针对风场干扰下高空飞艇的定点驻留控制问题,阐述如何利用系统状态估计值和特征模型对飞艇进行控制器设计。首先,在平流层飞艇受力分析的基础上,建立了数学模型;然后设计了扩展卡尔曼滤波器,利用测量得到的飞艇位置信息估算飞艇当前的位置、艇速和风速3个状态变量;随后建立系统特征模型,并将估计所得的状态变量和基于特征模型的黄金分割控制器相结合,对飞艇进行定点控制;最后通过数学仿真验证本文所设计的控制器的有效性,并且和传统PD控制器的控制结果对比,表明了该控制器的优越性。To solve the problem of the fixed point control of high altitude airship disturbed by the wind field, the design of a controller based on the system state estimation and the characteristic model is presented. First, the mathematical model is established based on the force analysis of the stratospheric airship, and then designed the extended Kalman filter, using the measured location information of the airship to estimate the airship current position, airship speed and wind speed. Then the system characteristic model is established, and the estimated state variables are combined with the golden section controller based on the characteristic model. Finally, the effectiveness of the proposed controller is verified by mathematical simulation, and compared with the control results of the traditional PD controller, the superiority of the proposed controller is demonstrated.基金项目：国家自然科学基金面上项目（61273199

Autonomous Path Tracking of a Kinematic Airship in Presence of Unknown Gust

International audienceThe trajectory tracking problem of autonomous lighter than air vehicles in the presence of wind gusts is studied in this paper. The airship is represented as one point which is its center of volume, and only the kinematic equations are considered for the path tracking design. The control algorithm uses the Lyapunov theory and the Sontag's universal stabilizing feedback. The proposed control laws are robust, by construction, with respect to uncertainties in the model and unknown external parameters. Numerical simulations are carried out to illustrate the performance of the proposed control strategy

Autonomous Path Tracking of a Kinematic Airship in Presence of Unknown Gust

International audienceThe trajectory tracking problem of autonomous lighter than air vehicles in the presence of wind gusts is studied in this paper. The airship is represented as one point which is its center of volume, and only the kinematic equations are considered for the path tracking design. The control algorithm uses the Lyapunov theory and the Sontag's universal stabilizing feedback. The proposed control laws are robust, by construction, with respect to uncertainties in the model and unknown external parameters. Numerical simulations are carried out to illustrate the performance of the proposed control strategy

A survey of free software for the design, analysis, modelling, and simulation of an unmanned aerial vehicle

The objective of this paper is to analyze free software for the design, analysis, modelling, and simulation of an unmanned aerial vehicle (UAV). Free software is the best choice when the reduction of production costs is necessary; nevertheless, the quality of free software may vary. This paper probably does not include all of the free software, but tries to describe or mention at least the most interesting programs. The first part of this paper summarizes the essential knowledge about UAVs, including the fundamentals of flight mechanics and aerodynamics, and the structure of a UAV system. The second section generally explains the modelling and simulation of a UAV. In the main section, more than 50 free programs for the design, analysis, modelling, and simulation of a UAV are described. Although the selection of the free software has been focused on small subsonic UAVs, the software can also be used for other categories of aircraft in some cases; e.g. for MAVs and large gliders. The applications with an historical importance are also included. Finally, the results of the analysis are evaluated and discussed—a block diagram of the free software is presented, possible connections between the programs are outlined, and future improvements of the free software are suggested. © 2015, CIMNE, Barcelona, Spain.Internal Grant Agency of Tomas Bata University in Zlin [IGA/FAI/2015/001, IGA/FAI/2014/006

Modélisation et commande d'un dirigeable gros porteur dédié au transport de matières premières

L’objectif de notre travail est la modélisation et la commande d’un dirigeable. La première étape concerne le développement d’un modèle incluant la cinématique et la dynamique du dirigeable. La cinématique est présentée en utilisant la méthode des angles d’Euler, qui décrit l’orientation d’un corps rigide par rapport à un système de coordonnées fixes. La modélisation dynamique consiste à la dérivation du modèle mécanique de vol non linéaire du dirigeable. Il incorpore les lois classiques de la mécanique newtonienne utilisées pour la derivation des équations du mouvement. Considéré comme un corps rigide, le modèle du dirigeable est composé de six degrés de liberté (6DOF), trois translations et trois rotations. Le contrôle du dirigeable a été traité selon deux différentes approches. La première approche consiste à concevoir un correcteur linéaire basé sur une approximation linéaire du modèle non linéaire. La deuxième approche repose sur des changements de variables au niveau des variables d’états et des entrées permettant d’obtenir un modèle linéaire. Un contrôleur utilisant la technique de backstepping basé sur la théorie de Lyapunov et sur une boucle de retroaction pour la stabilisation avec planification de trajectoire pour le ballon dirigeable a été conçu. La robustesse du contrôleur a été étudiée en présence de perturbations en utilisant une commande PI-backstepping. Des simulations ainsi que des analyses portant sur les résultats obtenus ont été effectuées pour les deux types de commande. Le pouvoir de contrôle des surfaces de contrôle et les temps de réponses des modèles d’état longitudinal et latéral ont été décelés. Les performances du contrôleur par backstepping ainsi que l’effet de l’action intégrale ajoutée ont été mis en évidence