Robust model predictive control for stratospheric airships using LPV design

Wind and time delays are two major factors that affect the stability and control for an unmanned stratospheric airship. A Robust Model Predictive Control (RMPC) approach is proposed to track desired trajectory for linear parameter-varying (LPV) systems of the airship with state delay and wind disturbances. The RMPC design problem of the studied LPV systems can be interpreted as a semi-definite programming (SDP) via Lyapunov stability theory and linear matrix inequality (LMI) technique. The performance of the proposed controller is illustrated using three scenarios. The results of trajectory tracking control for a YEZ-2A stratospheric airship and a Zhiyuan small-scale low-altitude one show the RMPC design feasible and effective.