Control of Airship in Case of Unpredictable Environment Conditions

被引：11

作者：

Adamski, Wojciech ^{[1
]}

Hennan, Przemyslaw ^{[1
]}

Bestaoui, Yasmina ^{[2
,3
]}

Kozlowski, Krzysztof ^{[1
]}

机构：

[1] Poznan Univ Tech, Fac Comp Sci, PL-60965 Poznan, Poland

[2] Univ Evry, Lab IBISC, F-91020 Evry, France

[3] Univ Evry, Dept Elect Engn, F-91020 Evry, France

来源：

2010 CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL'10) | 2010年

关键词：

SYSTEM;

D O I：

10.1109/SYSTOL.2010.5675976

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The article demonstrates how to generate the trajectory, taking into account the concept of the tunnel of error that ensures route trace with an error no greater than assumed, even in difficult to predict environmental conditions. The mathematical model of kinematics and dynamics using spatial vectors is presented in short. The theoretical assumptions are tested by simulation. The model used in the simulations takes into account the structure of the drives in the form of two engines placed symmetrically on the sides of the object.

引用

页码：843 / 848

页数：6

共 17 条

[1]

[Anonymous], THESIS

[2]

[Anonymous], THESIS

[3]

[Anonymous], UNMANNED AERIAL VEHI

[4]

[Anonymous], 2006, Ph.D. Thesis, DOI DOI 10.18419/OPUS-3731

[5]

Bestaoui Y., 2007, UNPUB

[6]

Bestaoui Y., 2010, 48 AIAA AER SCI M IN

[7]

Bicho E., 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, P1379

[8] Kalman filter configurations for a low-cost loosely integrated inertial navigation system on an airship [J].

Bijker, Johan ;

Steyn, Willem .

CONTROL ENGINEERING PRACTICE, 2008, 16 (12) :1509-1518

[9] Robotic airships for exploration of planetary bodies with an atmosphere: Autonomy challenges [J].

Elfes, A ;

Bueno, SS ;

Bergerman, M ;

De Paiva, EC ;

Ramos, JG ;

Azinheira, JR .

AUTONOMOUS ROBOTS, 2003, 14 (2-3) :147-164

[10]

Fossen TI., 1994, Guidance and Control of Ocean Vehicles

← 1 2 →