Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
LIMIT OF USING COMPUTED TORQUE CONTROL OF AUTONOMOUS AIRSHIPS IN WIND ENVIRONMENT
Submission Author:
Constantino Gonçalves Ribeiro , RJ
Co-Authors:
Constantino Gonçalves Ribeiro, Luciano Santos Constantin Raptopoulos, Max Suell Dutra
Presenter: Constantino Gonçalves Ribeiro
doi://10.26678/ABCM.COBEM2019.COB2019-0895
Abstract
The studies of the swarm of UAVs (Unmanned Aerial Vehicles) have increased, and they are part of many daily tasks. There are several proposals for aircraft that operate autonomously, each with its advantages and disadvantages. An interesting proposal, with a reasonable cost-benefit ratio, is the use of autonomous dirigibles. One of the disadvantages of the airship is its sensitivity to strong wind environments. The proposed work studies the limit of using autonomous airships controlled by computed torque method in a strong winds’ environment. The study will establish the threshold of conditions (wind speed) an autonomous airship can be controlled by the computed torque method. The use of simulations with different wind conditions and paths will require most robust control actions of computed torque system and will be shown by operational data like an error to reach the path, time to reach the desired path, effort to control the UAV. These data will help to improve the control system proposed.
Keywords
Computed torque control, strong winds, Unmanned Aerial Vehicles, airships
