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Modelado, control y navegacion para el vuelo autonomo de dirigibles

Abstract : The aims of this thesis are the development of a dynamic model for the LAAS's Karma and los Andes University's UrAn airships, the elaboration of a set of base control laws of speed, altitude and heading in cruise flight, and optimal path planning and its pursuit. This work has been done within the framework of cooperation between the INSA of Toulouse and De los Andes University - Colombia. On the INSA side, this work has been made principally in the Robotic and Artificial Intelligent group of LAAS/CNRS, within the COMETS project. The LAAS robot was already equipped with sensors, an onboard CPU and radiofrequency links as FM and Ethernet whereas a radio-operated airship has been bought by De los Andes University to the Minizzep society. Then, instrumentation and on board CPU with Ethernet radio link have been installed. The first part of the document presents a mathematical model of the blimp dynamics. The analytic description of the model has been deduced from a dynamic and aerodynamic study. In a first time, the model parameters have been taken from precedent work based on wind tunnel experiments. Next to that, an identification of aerodynamic parameters of the grand model and also simplified models (called control model) were made with classical techniques and the Kalman filter as parametric estimator. A third part is devoted to the formulation of control strategies (PID, GPC and non-linear control by extended linearization principally), based on the decoupling of the velocity, the longitudinal and lateral dynamics. When this base controls are formulated, an approach to optimal planning based on the optimal control theory is presented. Two extensions to the initial model of path planning are proposed and their solutions are computed with numerical methods. A control for the following of the generated trajectory has been developed and is presented in the fourth chapter. These different control strategies have been validated by numerous simulation tests with and wit hout wind. The speed and altitude controllers have been tested in the real airship structure (UrAn).
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Contributor : Emilie Marchand <>
Submitted on : Tuesday, March 13, 2007 - 2:15:14 PM
Last modification on : Friday, January 10, 2020 - 9:08:08 PM
Long-term archiving on: : Wednesday, April 7, 2010 - 2:59:00 AM


  • HAL Id : tel-00136325, version 1


Leonardo Enrique Solaque Guzman. Modelado, control y navegacion para el vuelo autonomo de dirigibles. Automatic. INSA de Toulouse, 2007. Español. ⟨tel-00136325⟩



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