Polytopic LPV System Based Control Design for Multi-propeller airship

An airship with multi-propeller was proposed in this paper, the nonlinear dynamic model was established and the longitudinal model is transformed into a LPV form by Jacobian linearization method. The discreted LPV system within the interzone of the changing parameters is storied into a tensor, and then HOSVD is used to obtain a finite number of LTI vertex systems, then the robust state-feedback controller was designed in vertex system using linear matrix inequalities(LMIs) approach, and a robust variable gain controller is synthesized via convex decomposition techniques. The velocity tracking of time-varying references based on nonlinear model was carried out with the designed controller; simulation results illustrate the validity of the designed controller.