18th International Conference on Process Control

Gain-Scheduled LQR-Control for an Autonomous Airship

I. Masar, E. Stöhr
FernUniversität in Hagen

Abstract

In the past two years, an autonomous airship was developed at our department as a flying sensor platform. Our main research areas during this period were navigation, modelling and automatic control of the airship. In this article, we present a gain-scheduled LQR control design for the airship. First, the mathematical model of the system and its linearization will be introduced. After that, we split the linearized system in a lateral and a longitudinal subsystem. With the combined gain-scheduled controlled subsystems, a high-level navigation system allows the airship to follow an appropriate flight trajectory.

Full paper

097.pdf

Session

UAVs Development and Control (Invited) (Lecture)

Reference

Masar, I.; Stöhr, E.: Gain-Scheduled LQR-Control for an Autonomous Airship. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 18th International Conference on Process Control, Tatranská Lomnica, Slovakia, June 14 – 17, 197–204, 2011.

BibTeX
@inProceedings{pc2011-097,
author = {Masar, I. and St\"ohr, E.},
title = {Gain-Scheduled LQR-Control for an Autonomous Airship},
booktitle = {Proceedings of the 18th International Conference on Process Control},
year = {2011},
pages = {197-204},
editor = {Fikar, M. and Kvasnica, M.},
address = {Tatransk\'a Lomnica, Slovakia},
publisher = {Slovak University of Technology in Bratislava},
url = {http://www.kirp.chtf.stuba.sk/pc11/data/papers/097.pdf}}
© 2011 Institute of Information Engineering, Automation and Mathematics, FCFT STU in Bratislava. All rights reserved.