Longitudinal and horizontal stabilisation of an unmanned blimp Online publication date: Mon, 20-Aug-2007
by S. Samaali, A. Abichou, L. Beji
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 5, No. 1/2, 2007
Abstract: In this paper, we will present the stabilisation of an autonomous blimp in both planes, the longitudinal Pxz and the horizontal Pxy. Since the Brockett condition is not satisfied, the system can not be stabilised by a continuous feedback law only function of states. However, using iterative backstepping techniques, Lyapunov theory, homogeneity and averaging theorem stabilisation is still possible with a continuous time dependent feedback law. Simulation results are presented to show the validity of the proposed control scheme.
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