Agradecimentos: This work was supported by Fundação para a Ciência e a Tecnologia (FCT), through IDMEC, under LAETA, Project UID/EMS/50022/2013 (Portugal), and by DRONI Project, Grant CNPq 402112/2013-0 (Brazil)

This paper provides a tutorial view on airship path-tracking under wind disturbances. It addresses the relevant aspects towards this objective, namely the airship modelling, the dynamics analysis over the flight envelope, and the step-by-step design of a gain-scheduling control. The required parts...

This paper provides a tutorial view on airship path-tracking under wind disturbances. It addresses the relevant aspects towards this objective, namely the airship modelling, the dynamics analysis over the flight envelope, and the step-by-step design of a gain-scheduling control. The required parts to build a proper airship simulator are given: airship dynamics and actuation, and wind disturbances. A path-tracking gain-scheduling controller is designed and its performance and robustness evaluated in the simulation environment described for a complete airship mission consisting of vertical takeoff and landing, cruise flight and ground-hover, under realistic wind disturbances. Throughout the paper, considerations are done regarding the airship behavior and limitations, as well as what can be accomplished and how

CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO - CNPQ

402112/2013-0

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