Dynamical Modeling and Control of Fully-actuated Stratospheric Airship

This paper presents dynamic modeling and adaptive control of a stratospheric airship. In spite of many progresses, there are still fundamental challenges in this field of study. In the present paper, first the dynamic model of fully-actuated stratospheric airship with 6-DOF has expressed by the generalized coordinates. With consideration of uncertainties in inertial parameters, based on adaptive inverse dynamic control, first inertial parameters are estimated online by using linear parameterization and gradient update law. Later on by designing movement algorithm based on passivity, control law is deduced and adaptive and robust control methods based on passivity are applied for controlling of the airship. The stability of the closed loop control system is proved using the Lyapunov stability theory.Comparison between the Simulation results of the both methods in tracking of the desired time-dependent variable path is shown

Keywords:

Stratospheric airship , Fully-actuated , Inverse dynamic control , Uncertainties