Abstract Nowadays, non rigid airships with a cigar shaped profile are the most common type. These airships do not have any rigid internal framework. The objective of this chapter is to present kinematics and dynamics models of a lighter than air robot, taking into account wind effect. Newton-Euler and Hamilton-Lagrange approaches are used for this discussion then the translational model is presented. Here, motion is referenced to a system of orthogonal body axes fixed in the airship, with the origin assumed to coincide with the bow. Finally, some aerology characteristics are briefly discussed.


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