Position-trajectory control system for robot on base of airship

摘要

This work is devoted to control system of unmanned robotized airship. Mathematical model is analyzed for controllability. Position-trajectory control system on the base of high-order nonlinear interrelated model of airship is suggested. System adaptation is implemented with robust estimation algorithms. Use of redundant control channels is solved on the base of minimum of applied control actions. Experimental results of system functioning are presented.