Control of airship in case of unpredictable environment conditions

The article demonstrates how to generate the trajectory, taking into account the concept of the tunnel of error that ensures route trace with an error no greater than assumed, even in difficult to predict environmental conditions. The mathematical model of kinematics and dynamics using spatial vectors is presented in short. The theoretical assumptions are tested by simulation. The model used in the simulations takes into account the structure of the drives in the form of two engines placed symmetrically on the sides of the object.