Abstract
The present paper introduces a novel approach for the airship hover stabilization problem. A synthetic modeling of the airship dynamics is introduced using a quaternion formulation of the kinematics equations. Based on this model, a backstepping design formulation is deduced for the aircraft hovering control. To deal with limitations caused by reduced actuation, saturations are introduced in the control design, and the global asymptotic stability of the system under saturation is demonstrated. The control objective is finally modified to cope with the strong lateral underactuation. Simulation results are presented for the hover stabilization of an unmanned robotic airship, with wind and turbulence conditions selected to demonstrate the behavior and robustness of the proposed solution.
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