Z. Ashraf, M. A. Choudhry, A. Hanif


Airship provides us many attractive applications in aerospace industry including transportation of heavy payloads, tourism, emergency management, communication, hover and vision based applications. Hovering control of airship has many utilizations in different engineering fields. However, it is a difficult problem to sustain the hover condition maintaining controllability. So far, different solutions have been proposed in literature but most of them are difficult in analysis and implementation. In this paper, we have presented a simple and efficient scheme to design a multi input multi output hybrid PI control scheme for airship. It can maintain stability of the plant by rejecting disturbance inputs to ensure robustness. A control scheme based on feedback theory is proposed that uses principles of optimality with integral action for hovering applications. Simulations are carried out in MTALAB for examining the proposed control scheme for hovering in different wind conditions. Comparison of the technique with an existing scheme is performed, describing the effectiveness of control scheme.

Full Text:



A. Elfes, S.S. Bueno, M. Bergerman, and J.

G. Ramos A Semi-autonomous Robotics

Airship for Environmental Monitoring

Missions, Proceedings of the IEEE

International Conference on Robotics and

Automation, Belgium, Vol. 4 (1998) pp. 3449-

B.L. Nagabhushan and N.P. Tomlinson, J.

Aircraft AIAAl. 19, No.10 (1983).

H.C. Curtiss and V. Sumantrant, Journal of

Guidance AIAA 8, No.6 (1985).

J.R. Azinheira, E.C. de Paiva, J.J.G. Ramos

and S.S. Bueno, Hovering Control of an

Autonomous Unmanned Airship, 4th

Portuguese Conference on Automatic

Control, DC, Controlo’ , ISBN 972 98603-0-0


J.R. Azinheira, P. Rives, J.R.H. Carvalho,

G.F. Silveira, E.C. de Paiva and S.S. Bueno,

“Visual servo control for the hovering of an

outdoor robotic airship,” in Proc. IEEE Int.

Conf. Robot. Autom., Washington, DC (2002)

pp. 2787–2792.

A. Moutinho and J.R. Azinheira, A GainScheduling Approach for Airship Stabilization,

In Proceedings of the 7th Portuguese

Conference on Automatic Control, Lisbon,

Portugal (2006).

D.K. Schmidt, Journal of Guidance, Control

and Dynamics 30, No. 2 (2007) pp. 540.

J.R. Azinheira and A. Moutinho, Journal of

Guidance, Control, and Dynamics AIAA 29,

No. 4 (2006).

J.R. Azinheria and A. Moutinho, IEEE

Transactions on Control System Technology

, No. 3 (2008) 258.

S.B.V. Gomes, An Investigation of the Flight

Dynamics of Airships with application to the

YEZ-2A, Ph.D. Thesis, College of

Aeronautics, Cranfield University (1990).

S.B.V. Gomes and J.J.G. Ramos, Airship

Dynamic Modeling for Autonomous

Operation, Proc of IEEE International

conference on Robotics & Automation

Leuven, Belgium (1998).

A. Kornienko, System Identification Approach

for Determining Flight Dynamical

Y. Li, Dynamics Modeling and Simulation of

Flexible Airships, Ph.D. Thesis, McGill

University, Montreal (2007).

S.P. Jones and J.D. De Laurier, Aerodynamic

Estimation Techniques for Aerostats and

Airships, AIAA Lighter-than-Air Systems

Conference, AIAA, Annapolis, MD (1981).

J.B. Mueller, M.A. Paluszek and Y. Zhao,

Development of an Aerodynamic Model and

Control Law Design for a High Altitude

Airship,” AIAA 3rd "Unmanned Unlimited"

Technical Conference, Workshop and

Exhibit., AIAA, Chicago, IL (2004).

G.A. Khoury and J.D. Gillett, Airship

Technology, Cambridge Aerospace Series:


M.V. Cook, The Linearised Small

Perturbation Equation of motion for an

Airship, Working Paper No. WP 8,

Aerodynamics Department, College of

Aeronautics, Cranfield (1987) (Revised


A.B. Moutinho, Modeling and Nonlinear

Control for Airship Autonomous Flight, Ph.D.

thesis, Instituto Superior Tecnico, Lisbon


C.T. Chen, Linear System Theory and

Design, Oxford University Press, Inc (1999).

D.S. Naidu, Optimal Control Systems, CRC

Press LLC (2003).

A. Tewari, Modern Control Design with

MATLAB and SIMULINK, John Wiley and

Sons, Ltd. (2002).

S. Nakamura, Numerical Analysis and

Graphic Visualization with MATLAB,

Prentice-Hall, Inc. (2002).


  • There are currently no refbacks.