Mission path following for an autonomous unmanned airship

Author

Azinheira, José Raul ; De Paiva, Ely Carneiro ; Ramos, Josué Jr G ; Beuno, S.S.

Author_Institution

Inst. Superior Tecnico, Lisbon, Portugal

Volume

2

fYear

2000

fDate

2000

Firstpage

1269

Abstract

The development of an unmanned airship capable of autonomous flight over user-defined locations for aerial data and imagery acquisition is the objective of the AURORA project. One important mission problem is the flight path following of the vehicle through a set of pre-defined points at a given altitude and velocity. In this article, a path tracking error generation methodology is presented and two different strategies for the guidance problem, one based on a H_∞ control technique and another based on a PI control, are proposed and compared through a simulated case study

Keywords

H^∞ control; aerospace control; attitude control; dynamics; navigation; path planning; tracking; two-term control; velocity control; AURORA project; H_∞ control; PI control; autonomous unmanned airship; dynamic model; flight path following; mission path following; navigation; path tracking error generation; Control systems; Error correction; Informatics; Navigation; Pi control; Remote monitoring; Remotely operated vehicles; Robot sensing systems; Surveillance; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844773

Filename

844773