Hovering Control of Outdoor Blimp Robots Based on Path Following-Reference-Cited by-同舟云学术

Hovering Control of Outdoor Blimp Robots Based on Path Following

Published:2011-04-20 Issue:2 Volume:23 Page:207-214
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Saiki Hitomu, ,Fukao Takanori,Urakubo Takateru,Kohno Takashi, ,

Abstract

After large-scale disasters, a surveillance system is required to gather information about the stricken area safely and quickly. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering of outdoor blimp robots under strong winds by a path-following approach. The method consists of inverse optimal path-following control in the horizontal plane and Proportional-Integral-Derivative (PID) control for altitude and pitching motion of the blimp in the longitudinal plane. Some simulations and experiments for a 12m class outdoor blimp are performed to confirm the usefulness of the proposed method.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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