Title: Longitudinal and horizontal stabilisation of an unmanned blimp

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 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.

Keywords: airships; nonlinear control; backstepping techniques; averaging theorem; homogeneity; stability; longitudinal stabilisation; horizontal stabilisation; autonomous blimps; Lyapunov theory; feedback control; simulation.

DOI: 10.1504/IJVAS.2007.014933

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.1/2, pp.138 - 157

Published online: 20 Aug 2007 *

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