Multi-body modelling and adaptive control of a re-configurable uninhabited airship
This paper presents pitch control of an uninhabited airship using changes in center of gravity. Changes in center of gravity are achieved by controlling the position of a movable gondola along a rigid keel fixed to the bow of the helium envelope. The longitudinal multi-body dynamic equations of moti...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Canadian Science Publishing
2022-01-01
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| Series: | Drone Systems and Applications |
| Subjects: | |
| Online Access: | https://cdnsciencepub.com/doi/10.1139/dsa-2021-0017 |
| Summary: | This paper presents pitch control of an uninhabited airship using changes in center of gravity. Changes in center of gravity are achieved by controlling the position of a movable gondola along a rigid keel fixed to the bow of the helium envelope. The longitudinal multi-body dynamic equations of motion were developed using the measured and estimated physical properties and an adaptive PID controller was designed to control the pitch angle. Flight tests on a 4 m long uninhabited airship prototype were conducted to demonstrate the effectiveness of the method. |
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| ISSN: | 2564-4939 |