Adaptive Stabilization and Trajectory Tracking of Airship with Neutral Buoyancy

This paper presents an adaptive nonlinear control solution to the horizontal motion of an autonomous airship. We define a novel family of error functions including configuration error and velocity error. Then, we establish the error system. The adaptive nonlinear controller stabilizing the error system is designed by Lyapunov direct method and Matrosov theorem. Numerical studies are presented to illustrate the effectiveness of the proposed controller.