Gain-Scheduled LQR-Control for an Autonomous Airship
I. Masar, E. Stöhr
FernUniversität in Hagen
Abstract
In the past two years, an autonomous airship was developed at our department as a flying sensor platform. Our main research areas during this period were navigation, modelling and automatic control of the airship. In this article, we present a gain-scheduled LQR control design for the airship. First, the mathematical model of the system and its linearization will be introduced. After that, we split the linearized system in a lateral and a longitudinal subsystem. With the combined gain-scheduled controlled subsystems, a high-level navigation system allows the airship to follow an appropriate flight trajectory.
Full paper
Session
UAVs Development and Control (Invited) (Lecture)
Reference
Masar, I.; Stöhr, E.: Gain-Scheduled LQR-Control for an Autonomous Airship. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 18th International Conference on Process Control, Tatranská Lomnica, Slovakia, June 14 – 17, 197–204, 2011.
BibTeX
| @inProceedings{pc2011-097, | ||
| author | = { | Masar, I. and St\"ohr, E.}, |
| title | = { | Gain-Scheduled LQR-Control for an Autonomous Airship}, |
| booktitle | = { | Proceedings of the 18th International Conference on Process Control}, |
| year | = { | 2011}, |
| pages | = { | 197-204}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Tatransk\'a Lomnica, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc11/data/papers/097.pdf}} |