Control System Design for Robotic Airship

Pshikhopov V.Kh., Medvedev M. Y., Sirotenko M.Y., Kostjukov V.A.

Taganrog Technological Institute of South Federal University, Taganrog,
Russia ( Tel: (+7)8634 37-16-94; e-mail: pshichop@rambler.ru).

Abstract: In this paper control system design for robotic airship is developed. The nonlinear multilinked
mathematic model of airship is considered. The results of aerodynamic analysis, parametric and structure
disturbances estimation, nonlinear control algorithms, and neural network motion planning are presented.
Theoretic results are implemented on experimental robotic mini-airship.
Keywords: Nonlinear Control System Design, Estimation, Adaptation, Neural Network Planning.
1. INTRODUCTION
Design of robotic airship-based platform (RABP) is of
significant interest nowadays. This interest is attracted by
unique capabilities of airships and robotic systems on basis of
airships (Pshikhopov, 2004, Elfes et al., 1998, Sang-Jong Lee
et al., 2004, Lacroix, 2000): capability to hover without
additional power costs; large-scale flight range and carrying
capacity; safety in case of control system failure; vertical
take-off and landing, etc.
All these capabilities make airships an attractive solutions for
the civilian and military objectives, connected with
environment monitoring, supervision and diagnostics of highrise facilities, patrolling, providing communication, air
reconnaissance, map-making, radar supervision, etc.
Implementation of such systems as autonomous mobile
robots increases its functional capabilities, minimizes human
participation to objective description. Obviously, such target
is connected with a number of problems, resulted from high
dimensional and multilinked airship mathematical model,
parameters non-stationarity, external disturbances, and a
priori non-formalized environment (Pshikhopov, 2006,
Medvedev, 2006).
The procedure of constructing control systems (CS) of RABP
is presented in this work. This procedure considers
development of a valid mathematical model, effective control
algorithms, motion planner, and also correct hardware
selection.
2. MATHEMATICAL MODEL OF AN AIRSHIP
To design control system on base of paper (Pshikhopov,
Medvedev, 2006) it is possible to consider model of
dynamics and kinematics of an airship as a differential
equation system:

x& = M -1 ( Fu - Fd - Fv ) ,

(1)

d& = KU ,

(2)

S P (Q, x )
,
Y& = S(Q, x ) =
S Q ( Q, x )

(3)

x m-vector of projections of terrestrial and angular

velocities vectors of airship in a body coordinate system
OXYZ, m 6 ; M(l) - (mm)- matrix of mass-inertial
parameters, where l vector of no stationary parameters,
elements of this vector are airship mass, moments of inertia,
apparent masses; Fu (x, P, d, l) - m-vector of control forces
and control moments; Fd (x, P, l) - m-vector of nonlinear
dynamic component; Fv - m-vector of measurable and no
measurable external disturbances, d - m-vector of
controllable components (air mass inside an envelope,
deflection angle of aerodynamic control surfaces and
operating levers of motor thrust, etc.); K (mm)-matrix of
control coefficients; U n-vector of control actions;
Y = (Q, P )T - n-vector of position P and orientation Q of
body coordinate system relative to base coordinate system;
S(Q, x ) - n-vector of kinematical constraints; S P (Q, x ) vector of linear velocities of body coordinate system relative
to base system; S Q (Q, x ) - vector of angular velocities of
body coordinate system relative to base system. Further we
consider m = n lossless in generality.
Airship dynamic models (1), (2), (3) are multilinked systems
of nonlinear differential equations. Its components are
defined by design and parameters of specific airship, as well
as by structure and type of external disturbances. Besides,
distinctive feature of an airship is non-stationarity of vector
l components, dependent on functioning conditions of
airship and its design characteristics. Necessity for
considering full airship dynamics is defined by strict
requirements for airship functioning quality. It is necessary to

perform airship aerodynamic properties analysis for the most

correct definition of vector Fv .
3. ANALISYS OF AERODYNAMIC FORCES AND
TORQUES

Pressure and temperature distribution over surface, velocities

field distribution of incident stream in vicinity of airship
under different attack angles and velocities also have been
acquired. Figure 2 shows velocities vectors distribution by its
values and directions in plane, which is lies on airship
symmetry axis.

Dependences of basic aerodynamic coefficients on angles of

attack and slide had been got using NUMECA software suit
for hydro- and aerodynamic calculations.
Figure 1 shows diagrams of dependences of head resistance
coefficient and lift force coefficient on attack angle into
speed coordinate system with three different airship
velocities: v = 30, 50, and 80 m/s. These dependences are
well conformed to both theoretical and experimental data of
such type of airship (Kirilin, Ivchenko, 2000).

Fig. 2. Incident flow velocities distribution on aerostat

vicinity.
Use of NUMECA software suit for obtaining required
aerodynamic characteristics significantly decreased financial
expenditure, which could be necessarily for experimental
blowing of researched object.
4. DISTURBANCIES ESTIMATION
Fig. 1a. Head resistance coefficient depending on attack
angle in speed coordinate system plot.

Controller equations are complemented by dynamic adaptive

estimator, based on results presented in paper (Pshikhopov,
Medvedev, 2006):
dz1i ( t )
dt

dz2i ( t )
dt

= -l1i Fi0 + z1i + l1i mV j + z2i + l2i mV j ,

= -l2i Fi0 + z1i + l1i mV j ,

Fi = z1i + l1i mV j ,
dz1 j ( t )
dt

dz2 j ( t )
dt

= -l1 j M 0j + z1 j + l1 j J 0j w j + z2 j + l2 j J 0j w j ,
= -l2 j M 0j + z1 j + l1 j J 0j w j ,

M j = z1 j + l1 j J 0j w j .

Fig. 1b. Lift force coefficient depending on attack angle in

speed coordinate system plot.

(4)

(5)

Equations (4) are estimation of disturbances on linear

velocity circuit; (5) implement disturbances estimation by
rotation velocity; i , j = x , y , z , z1i , z2i , z1 j , z2 j estimator
state variables; Fi 0 , M 0j known or measurable forces and
torques, applied to moving object; V j , w j - object linear and

angle velocities; m, J 0j - mass and nominal moments of

inertia; l1i , l2i , l1 j , l)2 j - estimators coefficients, providing it
operating speed; Fi , M j - evaluations of indeterminate forces
and moments.
5. MOTION PLANNING AND CONTROL ALGORITHMS
SYNTHESIS APPROACHES
Taking into consideration peculiarities of RABP, following
tasks are very actual for its operation: airship stabilization at
the certain point in a base coordinates space with desirable
values of yaw, pitch and roll angles (for kinematic scheme
with convertible thrust vector); path following in base
coordinate system, with constant airspeed V and given
orientation of body coordinate system; motion to the point in
base coordinate system, prescribed path following, without
additional requirements to airship airspeed. All these tasks
could be represented in a form of vector function Y of base
coordinates, orientation angles and its derivations, defined as
following:
Ytr =

N ( P, t )
( P, Q, t )

P T Ai1 (t ) P + Ai 2 (t ) P + Ai 3 (t )
j ( P , Q, t )

i = 1, v , j = 1, m

= 0,

(6)

N (n ) = x ( P T An 1 (t ) P + An 2 (t ) P + An 3 (t )),

dimYtr = n + m = m,
where Aij (t ) matrices of coefficient corresponding
dimension defined by planner; n dimension of operating
space of RABP; m dimension of vector F defines
requirements to orientation of RABP; x = 0 for point
stabilization; x = 1 for path following.
Jacobi matrix for vector tr is
N N
2 PT Ai1 (t ) + Ai 2 (t ) 0
T
T
J NP J NQ
P

Q
Js =
=
=
=
F j
F j ,
F F
J FP J FQ
Y T
T
P
QT
PT QT
dim J s = (m n )
Ytr

~
Yck = J sY& + J t + V = 0, dimYcr = n + m = m ,

) )
(t ))P + A&

~
V = 0n -1, x V 2 - V *2 , 0 m
Jt =

(P

A&i1 (t ) + A&i 2
F tj (P, Q, t )

i3

~
~ A 0
Y = Ytr + A Yck = 0 , i = 1, v , j = 1, m , A =
,
0 AF
~
where A block diagonal matrix of constant coefficients;
~
dim A = m m , AF m m matrix determines transients
of orientation angles of the RABP; A n n matrix defines
transients of linear coordinates.
Algorithmic solutions for these tasks for RABP control
system are based on work (Pshikhopov, 2009). In result we
obtain following control algorithms for airship, defined by
math model (1), (3):

~~
Fu = -M T AK 0

) (K P& + K
-1

~~
(t ) + AV + Ytr + Fd + Fn ,

K 0 = ( J1 J SPx + J Q J SQx ) , dim K 0 = (m m),

~~
K1 = T A K11 + K12 , dim K1 = (m n),

K11 = (0mn J1 J SPQ + J Q J SQQ ) , dim K11 = (m n),

~ ~
~~
K12 = (T + A) J s + T A s , dim K12 = ( m n),
T

~ ~
~~
K 2 = (T + A) J t + T AJ t* , dim K 2 = (m 1),

J1 = ( J P + JV ), J V = (0 (n -1)n

2x P& T

0 m n ) T ,

J Sij =

S i
, here i = {P, Q}, j = {x, Q} ,
j

JP =

J NP
J
, J Q = NQ ,
J P
J Q

2 F1 2 F 2 2 F 3
J t* = j t* (1, 1), j t* (1, 2), j t* (1, 3),
,
,
t 2
t 2
t 2

dim J t* = dim J t = (m 1),

&& + A
&& ) P + 2( 2 P T A& + A& ) P& + A
&& ,
jt* (1, k ) = ( P T A
k1
k2
k1
k2
k3

GS =

J S
Y T

where T% , A% , - functional coefficients, their structure is:

,

where A& ij matrix of time derivatives of matrix Aij (t ) , F tj

elements of vector F depending from time explicitly;
0n -1 ,0 m zero vectors; V , V * real airship motion and its
desired value.
All requirements to steady-state movement operation of RABP
can be presented in the next form

where Tg is constant, defining pattern of change of trajectory

velocity Vk in transient condition; TF is matrix of constants
of suitable dimension, defining on basis of orientation angle
of RABP nature of transient conditions; T is diagonal
( v - 1) ( v - 1) matrix, defining robot motion type relevantly
to trajectory manifold Y tr .

Fig 3. Neural network planning system

Works (Pshikhopov, 2004) and (Pshikhopov, Medvedev,
2006) explains the necessity of taking into account
multilinked math models. Synthesis procedure for internal
coordinates and external disturbances estimator, and
modeling results, confirming correctness of a theoretical
statements are also presented.
RABP application areas define its functioning into
indeterminate and non-stationary environments, which raises
requirements for a motion planning system. Specifically,
intelligent motion planning system is essential for providing
airship low level control system with feasible motion
trajectories by analyzing computer vision data.
A neural network planner is proposed (Pshikhopov,
Sirotenko, 2004) to form a motion trajectory to be performed
by a controller. A planner consists of two parts: global path
planning module and local planner. Global path planning

Fig 4. Airship onboard flight control system

module calculates robot trajectory according to the current

flight task and map using well-known A* algorithm. Local
planner uses pretrained convolutional neural network
(LeCun, Bengio 1995) to extract information about
environment from visual data and make a corrections to
current trajectory on a base of visual data. Corrections may
be different depending on task: object following, obstacle
avoidance, lengthy objects tracking. Structure of this planner
is shown on fig. 3. A main distinctive feature of the proposed
planner from similar (Hadsell et al, 2009) is the way motion
trajectories are planned. The output of planner is coefficients
of quadric and linear form equation, defining the trajectory in
base coordinate space.
Such representation of robot motion trajectories together with
proposed planning and control algorithms refining the quality
of performing path-following tasks.
6. STRUCTURE OF ROBOTIC AIRSHIP ONBOARD
CONTROL SYSTEM
Obtained theoretical and simulation results enables to suggest
the structure of RABP control system, shown on the figure 4.
Airship on-board flight control system (OFCS) can be
separated into few functional blocks: onboard control system,
onboard equipment control system, actuators, embedded
modules of on-board equipment, and power-supply system.
Board carrier control system includes actuators state sensors,
GLONASS/GPS navigation system, inertial navigation
system, and computer. Actuators state sensors are various

type encoders. It provides actuators position data to control

system. Satellite navigation system GLONASS/GPS is
necessary for obtaining airship global coordinates. Inertial
navigation unit consists of inertial measurement devices such
as gyroscopes, accelerometers etc, which are essential for
orientation and coordinates calculation.
Computer forms motion trajectory, and calculate control
signals according to synthesized control law, current
objective and data from listed systems. Next these signals are
input to actuators, which are drives of propellers, traction
vector angle changer or aerodynamic rudders.
Embedded modules of on-board equipment could be
transceiver equipment, camera based computer vision system,
laser scanners, radar systems, complementary modules.
Transceiver equipment is essential for receiving flight task,
transmit video, remote control, and other data exchange tasks.
Camera based computer vision system, laser scanners, and
radar systems could be used for both fight tasks and
environment data receiving to provide a valid trajectory
planning. Presence or absence any of modules is determined
by given task, defined for RABP.
Power-supply system controls distribution of electric power
into a system, and implement energy-efficient algorithms.
7. HARDWARE IMPLEMENTATION OF CONTROL
SYSTEM
Results of research are implemented in prototype of airshipbased autonomous mobile robot Sterkh, shown on figure 5.
These results also can be used to design perspective RABP.

build on nonlinear and multilinked motion model with

consideration of dynamic, kinematic and actuators equations.
Comparing with traditional (separated by linear and lateral
motion) approaches, this method allows to expand systems
functional capabilities by taking into account non-linear
operation modes and multilinked math model of control
object.
Identification of aerodynamic properties of airship performed
by airflow simulation software, which is significantly
speeding up and reduces price of parametric support for math
model.
Unmeasured disturbances are evaluated by non-linear
estimators, distinguished by generality, which enables to
obtain estimations of disturbances, caused by parametric
uncertainties, external influence and object structure changes,
such as elastic strains.
Automatic control system makes possible to plan airship
motion trajectory in global coordinate system, which allows
performing motions along all trajectories that could be
described by quadric and linear forms.
Achieved theoretical results have been implemented in
several projects. Onboard flight control system structure,
shown on fig. 3, allows to perform fully autonomous flight,
semiautomatic flight by a given target points and parameters
and airship remote control mode.
9. ACKNOWLEDGMENTS
The work was supported by Russian Fund of Basic Research.
Grant N 07-08-00373-a.
REFERENCES

Fig. 5. Autonomous mobile robot Sterkh based on miniairship

8. CONCLUSION
This paper presented algorithms and structure of airship
based robotic complex control system. Control system is

Elfes A., Siqueira Bueno S., Bergerman M., Ramos J.G.

A semi-autonomous robotic airship for environmental
monitoring missions. Robotics and Automation, 1998.
Proceedings. 1998 IEEE International Conference on.
Volume 4, 16-20 May 1998 Page(s):3449 - 3455 vol.4.
Hadsell R., Sermanet P., Scoffier M., Erkan A., Kavackuoglu
K., Muller U., LeCun Y. Learning Long-Range Vision
for Autonomous Off-Road Driving, Journal of Field
Robotics, 26(2):120-144, February, 2009.
Kirilin A.N., Ivchenko, B.A. Calculating of nonrigid airships
basic parameters. Russian aeronautical society, Moscow,
2000.
Lacroix S. Towards autonomous airships: research and
developments at LAAS/CNRS. In 3rd International
Airship Convention and Exhibition, Friedrichshafen
(Germany), July 2000
LeCun Y. and Bengio Y. Convolutional Networks for
Images, Speech, and Time-Series. Arbib, M. A. (Eds),

The Handbook of Brain Theory and Neural Networks,

MIT Press, 1995.
Pshikhopov V.Kh. Position and trajectory control of mobile
objects. Taganrog, TIT SFU press, 2009.
Pshikhopov V. Kh. Airships: prospects of using in robotics.
Mechatronics, automatization, control, #5, p. 15-20.
2004
Pshikhopov V.Kh., Medvedev M.J. Structure synthesis of
mobile object autopilot with disturbances estimation.
Information-measuring and control systems, #1, p. 103109. 2006
Pshikhopov V.Kh., Medvedev M.J., Bekishev A.V. Structure
synthesis of dynamic controllers for position-trajectory
control systems of adaptive mobile robots on basis of
airships. Jurevich E.I. (ed.), Collected papers of 12-th
scientific and technical conference Extreme robotics,
p. 45-54. St. Petersburg, 2002.
Pshikhopov V.Kh., Sirotenko M.J. Autonomous mobile robot
control systems with neural network motion planners
design. Proc. of the VIII Int. Conf. on Systems,
Automatic Control and Measurements. Belgrad. Serbia
and Montenegro, p. 238-241. 2004.
Sang-Jong Lee, Seong-Pil Kim, Tae-Sik Kim, HyounKyoung Kim, Hae-Chang Lee. Development of
autonomous flight control system for 50m unmanned
airship. Proceedings of the Intelligent Sensors, Sensor
Networks and Information Processing Conference, 2004.