Cascaded incremental nonlinear dynamic inversion trajectory following for a stratospheric airship in wind

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dc.contributor.authorSchneider, Leo
dc.contributor.authorSouanef, Toufik
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2024-10-18T09:37:41Z
dc.date.available2024-10-18T09:37:41Z
dc.date.freetoread2025-10-16
dc.date.issued2024-10-15
dc.date.pubOnline2024-10-15
dc.description.abstractThis paper presents a guidance and control system for controlling the trajectory of a stratospheric unmanned airship using a cascaded Incremental Nonlinear Dynamic Inversion (INDI) method. The control system uses a two-loop cascaded INDI controller with virtual efforts and moments formulation to control both the airship attitude and velocity, while providing perturbation rejection properties. An active-set solver allocates the virtual controls to the airship propellers and aerodynamic surfaces while respecting the actuator bounds and rates saturation. The guidance system uses a Nonlinear Dynamic Inversion controller, where the position error dynamics formulation explicitly considers the lateral velocity of the airship, which enables it to counteract the wind influence. Simulation results demonstrate that the reference trajectory is precisely followed, even in the presence of unknown wind perturbations and both aerodynamic coefficients and mass and inertia parametric uncertainties through Monte-Carlo simulations.
dc.description.journalNameUnmanned Systems
dc.identifier.citationSchneider L, Souanef T, Whidborne JF. (2024) Cascaded incremental nonlinear dynamic inversion trajectory following for a stratospheric airship in wind. Unmanned Systems, Available online 15 October 2024
dc.identifier.eissn2301-3869
dc.identifier.elementsID553294
dc.identifier.issn2301-3850
dc.identifier.urihttps://doi.org/10.1142/s2301385025500748
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23063
dc.languageEnglish
dc.language.isoen
dc.publisherWorld Scientific Publishing
dc.publisher.urihttps://www.worldscientific.com/doi/10.1142/S2301385025500748
dc.rightsAttribution-NonCommercial 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/
dc.subject4007 Control Engineering, Mechatronics and Robotics
dc.subject40 Engineering
dc.subject4017 Mechanical Engineering
dc.subject7 Affordable and Clean Energy
dc.subject4007 Control engineering, mechatronics and robotics
dc.subject4017 Mechanical engineering
dc.titleCascaded incremental nonlinear dynamic inversion trajectory following for a stratospheric airship in wind
dc.typeArticle
dcterms.dateAccepted2024-09-09

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