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Three dimensional path-following control of an under-actuated airship

A new three dimensional path-following control method for an under-actuated airship is presented in this paper. Firstly, the dynamic model of a class of under-actuated airships is introduced in. Based on the proposed model, the kinematic error equations with respect to the desired path are established for controller design. Then, a path-following control law is derived by using dynamic inversion technique with PD control. The resultant control system possesses a cascaded structure, which consists of a position control loop, an attitude stabilization loop and a velocity tracking loop. Stability analysis shows that closed-loop path-following kinematic error system is asymptotically stable. Finally, simulation results for an under-actuated stratospheric airship are shown to verify effectiveness of the proposed approach.