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Optimal Control of an Unmanned Lighter-Than-Air Vehicle Through Way-Point Navigation

[+] Author Affiliations
Ghassan M. Atmeh, Kamesh Subbarao

The University of Texas at Arlington, Arlington, TX

Paper No. IMECE2012-87827, pp. 575-586; 12 pages
doi:10.1115/IMECE2012-87827
From:
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 1: Advances in Aerospace Technology
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4517-2
  • Copyright © 2012 by ASME

abstract

The work presented in this paper deals with designing two, optimal, Linear-Quadratic controllers that are capable of navigating an airship through a series of planar waypoints. Two guidance laws are considered, a track-specific guidance law and a proportional navigation guidance law. Each provides commands to their corresponding controller based on vehicle and waypoint positions. A novel implementation of the extended Kalman filter (EKF) provides the required states and wind speed estimates to enhance the performance of the track-specific guidance law in the presence of wind disturbance.

Copyright © 2012 by ASME

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