Trajectory tracking control for the planar dynamics of a thrust vectored airship

This paper addresses and solves the trajectory tracking problem for the planar dynamics of a thrust vectored airship. The proposed controller is based on a combination of two nonlinear control design techniques, backstepping and Exact Tracking Error Dynamics Passive Output Fedback (ETDPOF). Numerical simulations show the performance of the proposed controller and some concluding remarks complete the paper.

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