Dynamically feasible trajectory and open-loop control design for unmanned airships

Repoulias, F; Papadopoulos, E

dc.contributor.author	Repoulias, F	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:35Z
dc.date.available	2014-03-01T02:44:35Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31888
dc.subject	Control Design	en
dc.subject	Center of Mass	en
dc.subject.other	Airships	en
dc.subject.other	Dynamics	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Vehicles	en
dc.subject.other	3-D trajectories	en
dc.subject.other	Center-of-mass	en
dc.subject.other	Closed-loop tracking	en
dc.subject.other	Control and automation	en
dc.subject.other	Open loop controlling	en
dc.subject.other	Six-DOF	en
dc.subject.other	Underactuated	en
dc.subject.other	Unmanned airships	en
dc.subject.other	Vehicle orientation	en
dc.subject.other	Vehicle's dynamics	en
dc.subject.other	Trajectories	en
dc.title	Dynamically feasible trajectory and open-loop control design for unmanned airships	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2007.4433820	en
heal.identifier.secondary	4433820	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2007.4433820	en
heal.publicationDate	2007	en
heal.abstract	This paper describes a method for planning six DOF trajectories for an underactuated unmanned airship and for computing the open-loop controls. Beginning with a smooth inertial 3D trajectory to be tracked by the center of mass of the vehicle, the proposed algorithm, based on the dynamics of the system, provides the 3D corresponding body-fixed linear and angular velocities and the vehicle orientation, yielding a feasible 6 DOF trajectory. The derived trajectory is further used to compute the three available open-loop controls. Since the variables of the trajectory are consistent with the vehicle's dynamics, a closed-loop tracking controller can significantly improve its performance incorporating these variables. Furthermore, examining the resulting open-loop controls, the designer can judge about the capability of the actuators to meet the requirements of tracking the specific trajectory. © 2007 IEEE.	en
heal.journalName	2007 Mediterranean Conference on Control and Automation, MED	en
dc.identifier.doi	10.1109/MED.2007.4433820	en