Robust tracking navigation of aerial in longitudinal plane

Author

Mibar, H. ; Ttiti, S.

Author_Institution

INSAT, Univ. of Carthage - Tunisia, Tunis, Tunisia

fYear

2013

fDate

21-23 March 2013

Firstpage

1

Lastpage

7

Abstract

In this paper, we address the problem of trajectory tracking in the longitudinal plane an unmanned aerial vehicle of blimp type with robust controller. In this plane, the dynamic behavior of the airship is quite complex. The problem of the tracking of the blimp´s trimmed flight is described by a Linear Parameter Varying system (LPV). In this case, we use a LPV control by state output feedback to solve this problem. The approach used is based on finding a parameter dependent Lyapunov functions which ensures the robust stability of the LPV system. The theoretical results are tested by simulation in MATLAB which use the LMI control toolbox.

Keywords

Lyapunov methods; airships; autonomous aerial vehicles; linear matrix inequalities; linear systems; path planning; robust control; state feedback; trajectory control; LMI control toolbox; LPV control; airship; blimp type; dynamic behavior; linear parameter varying system; longitudinal plane; parameter dependent Lyapunov function; robust controller; robust tracking navigation; state output feedback; trajectory tracking; trimmed flight; unmanned aerial vehicle; Atmospheric modeling; Mathematical model; Navigation; Nonlinear systems; Robust control; Trajectory; LMIs; LPV control; LPV system; aerial blimp; flatness;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering and Software Applications (ICEESA), 2013 International Conference on

Conference_Location

Hammamet

Print_ISBN

978-1-4673-6302-0

Type

conf

DOI

10.1109/ICEESA.2013.6578450

Filename

6578450