Robust H_∞ directional control for a sampled-data autonomous airship

Abstract

A robust H_∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-time system with time-varying delay. Sufficient conditions were then established based on the constructed Lyapunov-Krasovskii functional, which guarantee that the system is mean-square exponentially stable with H_∞ performance. The desired controller can be obtained by solving the obtained conditions. Simulation results show that guaranteed minimum H_∞ performance γ=1.4037 and fast response of attitude for sampled-data autonomous airship are achieved in spite of the existence of parameter uncertainties.

Keywords

autonomous airship / H_∞ directional control / sampled-data system / polytopic parameter uncertainty / Lyapunov-Krasovskii functional

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