This paper describes design and development of an integrated guidance, navigation, and control (GNC) algorithm for smooth navigation of an airship following a series of planar waypoints for surveillance applications. The guidance algorithm employed in this study is a look ahead-based steering guidance law which provides the required guidance command to the controller for executing the target mission. The command signal generated by guidance law is based on the airship current location relative to the next target waypoint. Two different control architectures are used in the GNC algorithm in order to execute the guidance command and carry out the path following mission. A proportional–integral–derivative (PID) law-based outer loop kinematic controller is designed to control airship attitude/orientation, and a linear quadratic regulator (LQR)-based inner loop optimal controller is designed to control the airship’s speed and angular rates. Performance and robustness of developed GNC scheme are evaluated in MATLAB®-based simulation environment for two different flight scenarios. Results show that an optimal path following trajectory is obtained with minimum deviation from the given target waypoints.
Look Ahead Steering-Based Path Following Control for an Airship
Lect.Notes Mechanical Engineering
2022-11-29
12 pages
Article/Chapter (Book)
Electronic Resource
English
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