Modelling and Stabilisation of an Unconventional Airship: A Polytopic Approach

Abstract

The paper presents the modelling and stabilisation of an unconventional airship. The complexity of such a new design requires both proper dynamic modelling and control. A complete dynamic model is built here. Based on the developed dynamic model, a nonlinear control law is proposed for this airship to evaluate its sensitivity during manoeuvres above a loading area. The proposed stabilisation controller derives its source from a polytopic quasi-Linear Parameter varying (qLPV) model of the nonlinear system. A controller, which takes into account certain modelling uncertainties and the stability of the system, is analysed using Lyapunov’s theory. Finally, to facilitate the design of the controller, we express the stability conditions using Linear Matrix Inequalities (LMIs). Numerical simulations are presented to highlight the power of the proposed controller.

Keywords

• dynamic modelling
• nonlinear systems
• quasi-LPV systems
• LMI formulation
• stabilisation