The goal of our work is the modeling and control of an airship. The first step concerns the development of a model including the kinematics and dynamics of the airship. The kinematics are presented using Euler angles approach, which describes the orientation of a rigid body with respect to a fixed coordinate system. Dynamic modeling consists of the derivation of the nonlinear flight mechanical model of the airship. It incorporates the classical laws of Newtonian mechanics used for derivation of equations of motion. Considered as a rigid body, the model of an airship should consist of six degrees of freedom (6DOF) three translations and three rotations.
Control of the airship was handled according to two different approaches. The first approach is to design a linear controller based on a linear approximation of the nonlinear model. The second approach is based on change of coordinates at the level of state variables and inputs to obtain a linear model. A controller using the Lyapunov theory-based backstepping technique and a feedback loop for trajectory stabilization for the airship has been designed. The robustness of the controller has been studied in the presence of disturbances using a PI-backstepping command.
Simulations and analysis of the results obtained were carried out for both approaches. The control surface control power and the response times of longitudinal and lateral state models were detected. The performance of the controller by backstepping as well as the effect of the added integral action have been highlighted.
Haouas, E. (Author),
Akhrif (Supervisor) &
Fortin Blanchette (Co-supervisor),
23 Nov 2018Student thesis: Master's thesis › Master in Engineering: Engineering