Limit of Using Computed Torque Control of Autonomous Airships in Wind Environment

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 established a threshold of wind speed to an autonomous airship be controlled by computed torque method. The use of simulations with wind conditions will showed the limit of computed torque control by data like error to reach the path, variation on absolute speed, effort to control the UAV, and others. These data will help to improve the control system proposed.