Article Per Year (5 Year)
p-Index From 2021 - 2026
0
P-Index
This Author published in this journals
All Journal IAES International Journal of Robotics and Automation (IJRA)
K. Zemalache Meguenni
University USTO-MB
Automotive Engineering Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
PD-computed torque control for an autonomous airship Y. Meddahi; K. Zemalache Meguenni
IAES International Journal of Robotics and Automation (IJRA) Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (705.554 KB) | DOI: 10.11591/ijra.v8i1.pp44-51

Abstract

For the trajectory following problem of an airship, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. In the first part of this paper, kinematics and dynamics modeling of the airships is presented. Euler angles and parameters are used in the formulation of this model and the technique of Computed Torque control is introduced. In the second part of the paper, we develop a methodology of control that allows the airship to accomplish a prospecting mission of an environment, as the follow-up of a trajectory by the simulation who results show that Computed Torque control method is suitable for airships.
Co-Authors Y. Meddahi