Pshikhopov, V., Medvedev, M., Krukhmalev, V., Fedorenko, R. et al., "Method of Docking for Stratospheric Airships of Multibody Transportation System," SAE Technical Paper 2014-01-2162, 2014, doi:10.4271/2014-01-2162.
The paper describes methods for control of docking of two moving stratospheric airships. One of them (cruiser) implements cruising flight at the defined altitude with defined velocity. The other one (feeder) fulfills the mission of chasing the cruiser with following docking operations. Mathematical model of exact airships are used in the work. Instances of structural and algorithmic implementation are based on position-trajectory controller. Simulation of docking control was accomplished with proposed methods.