http://www.iaeme.com/IJCIET/index.asp 887 editor@iaeme.com International Journal of Civil Engineering and Technology (IJCIET) Volume 9, Issue 3, March 2018, pp. 887–895, Article ID: IJCIET_09_03_088 Available online at http://www.iaeme.com/ijciet/issues.asp?JType=IJCIET&VType=9&IType=3 ISSN Print: 0976-6308 and ISSN Online: 0976-6316 © IAEME Publication Scopus Indexed CONTROL ALLOCATION FOR AIRSHIPS Fedorenko Roman, Gurenko Boris, Shevchenko Viktor Southern Federal University, Bolshaya Sadovaya ul. 105 / 42, Rostov-on-Don, 344006, Russia ABSTRACT Article presents application of two approaches to airship control allocation – sequential quadratic programming and model predictive control. Airship actuators produced forces and moments unified mathematical model is given, making possible of application for mostly any actuators configuration with any positioning and orientation. Simulation results of given forces and moments vector allocation on 4 rotatable actuators for spherical airship is given. Keywords: airship, blimp, actuator, control allocation, quadratic programming, ACADO. Cite this Article: Fedorenko Roman, Gurenko Boris, Shevchenko Viktor, Control Allocation for Airships, International Journal of Civil Engineering and Technology, 9(3), 2018, pp. 887–895. http://www.iaeme.com/IJCIET/issues.asp?JType=IJCIET&VType=9&IType=3 1. INTRODUCTION At the present time, the requirements for airship control systems are increasing with regard to the requirement of their wide configuration, which is related to the market demand in a unified control system applicable to airships of various designs. Separate control systems for each design of airships development appears to be economically inefficient, since airships are produced by various companies in small series. Thus, developing of methods for designing control systems for airships challenge is connected with unification to technical characteristics of airships and design of their actuators and control allocation problem consequently. Airship can be equipped with a number of actuators (about ten), which significantly increases the dimensionality of the control problem being solved. In this connection, it is required to apply effective algorithms for calculating the required thrusts and angles of rotation of the engines according to the specified control forces and moments. In addition, the reliability requirements for aviation technology lead to the need to work in emergency mode in the event of failure of any executive mechanism, which also requires the use of new technologies for automatic reconfiguration of the control system. Limited number of publications were devoted to this topic of control allocation for airships. The redistributed pseudoinverse method has been widely used to solve the unconstrained control allocation problem. Static control allocation for airship is used in [1]. Work [2] show a pseudo-inverse matrix approach for explicit control allocation problem for