Authors: S. Samaali, A. Abichou, L. Beji
Addresses: LIM Laboratory, Ecole Polytechnique de Tunisie, BP 743, 2078 La Marsa, Tunisia. ' LIM Laboratory, Ecole Polytechnique de Tunisie, BP 743, 2078 La Marsa, Tunisia. ' Universite d'Evry Val d'Essonne, IBISC Laboratory, CNRS-FRE2873, 40 rue du Pelvoux, 91020, Evry Cedex, France
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.
Keywords: airships; nonlinear control; backstepping techniques; averaging theorem; homogeneity; stability; longitudinal stabilisation; horizontal stabilisation; autonomous blimps; Lyapunov theory; feedback control; simulation.
International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.1/2, pp.138 - 157
Available online: 20 Aug 2007 *Full-text access for editors Access for subscribers Purchase this article Comment on this article