Longitudinal and horizontal stabilisation of an unmanned blimp
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 P_xz and the horizontal P_xy. 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.

Online publication date: Mon, 20-Aug-2007

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