Resumen
This paper proposes a new kind of airship actuator configuration for surveillance and environmental monitoring missions. We present the design and application of a six-propeller electrical airship (Noamini) with independent tilting propellers, allowing improved and flexible maneuverability. The vehicle has different combinations of differential propulsion and can be used in a two-, four- or six-motor configuration. We developed a high-fidelity airship simulator for the Noamini airship, which was used to test and validate a control/guidance approach. Incremental Nonlinear Dynamic Inversion (INDI) is used for the velocity/attitude control to follow a high-level L1 guidance reference in a simulated waypoint-tracking mission with wind and turbulence. The proposed framework will be soon implemented in the onboard control system of the Noamini, an autonomous airship for environmental monitoring and surveillance applications.