Multi-body modelling and adaptive control of a re-configurable uninhabited airship

This paper presents pitch control of an uninhabited airship using changes in center of gravity. Changes in center of gravity are achieved by controlling the position of a movable gondola along a rigid keel fixed to the bow of the helium envelope. The longitudinal multi-body dynamic equations of motion were developed using the measured and estimated physical properties and an adaptive PID controller was designed to control the pitch angle. Flight tests on a 4 m long uninhabited airship prototype were conducted to demonstrate the effectiveness of the method.