Development of reliable control systems for semi-autonomous unmanned aerial vehicles require the use of extensive simulation data provided by an accurate six-degrees-of-freedom dynamic model. In this article we describe a Simulink-based control system development environment for Project AURORA's unmanned robotic airship, as well as the control algorithms and supervisory level of AURORA's control system. A complete take-off to landing mission illustrates the utilization of this environment.

We present a comprehensive description of the physical principles of robotic airship operation, along with their dynamic model in a form suited for controller design and computer simulation. Based on the dynamic model, airship response modes are analyzed and control challenges are pointed out. The present work provides a starting point for robotics and control researchers interested in utilizing airships as robotic aerial vehicles.