Title :
Position-trajectory control system for robot on base of airship
Author :
Pshikhopov, V. ; Medvedev, M. ; Gaiduk, A. ; Belyaev, V. ; Fedorenko, R. ; Krukhmalev, V.
Author_Institution :
Southern Fed. Univ., Rostov-on-Don, Russia
Abstract :
This work is devoted to control system of unmanned robotized airship. Mathematical model is analyzed for controllability. Position-trajectory control system on the base of high-order nonlinear interrelated model of airship is suggested. System adaptation is implemented with robust estimation algorithms. Use of redundant control channels is solved on the base of minimum of applied control actions. Experimental results of system functioning are presented.
Keywords :
airships; controllability; position control; remotely operated vehicles; robust control; trajectory control; controllability; high-order nonlinear interrelated model; position-trajectory control system; redundant control channels; robust estimation algorithms; unmanned robotized airship; Control systems; Estimation; Silicon;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760435
