Robotic airship trajectory tracking control using a backstepping methodology

Repoulias, F; Papadopoulos, E

dc.contributor.author	Repoulias, F	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:45:46Z
dc.date.available	2014-03-01T02:45:46Z
dc.date.issued	2008	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32380
dc.subject	Design Tool	en
dc.subject	Parametric Uncertainty	en
dc.subject	Trajectory Tracking	en
dc.subject	Vehicle Dynamics	en
dc.subject.other	Control theory	en
dc.subject.other	Gas dynamics	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Trajectories	en
dc.subject.other	Air streams	en
dc.subject.other	Backstepping	en
dc.subject.other	Robotic airships	en
dc.subject.other	Airships	en
dc.title	Robotic airship trajectory tracking control using a backstepping methodology	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2008.4543207	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2008.4543207	en
heal.identifier.secondary	4543207	en
heal.publicationDate	2008	en
heal.abstract	This paper considers the design of a novel closed-loop trajectory tracking controller for an underactuated robotic airship having 6 degrees of freedom (DOF) and 3 controls, on forward, yaw and pitch motions using two side thrusters. A backstepping methodology is adopted as a design tool, since it is suitable for the cascaded nature of the vehicle dynamics. It also offers design flexibility and robustness against parametric uncertainties which are often encountered in aerodynamic modeling and air stream disturbances. Indeed, in our simulations we assume a 10% error in all dynamic parameters and yet the controller performs position, orientation, linear and angular velocities tracking successfully. We also impose an additional air stream disturbance and the controller corrects the vehicle's trajectory successfully too. ©2008 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2008.4543207	en
dc.identifier.spage	188	en
dc.identifier.epage	193	en