Section: New Results

Blimp robot control

Participant : Denis Efimov.

The papers [50], [26] presented the robust controller design for an indoor blimp robot to achieve application such as the surveillance. The commonly used 6 degrees of freedom dynamic model was simplified under reasonable assumptions and decoupled into two independent parts. The blimp simplified horizontal plane movement model was complemented with disturbance terms to ensure the modeling accuracy, then it was transformed to a simpler form for the ease of controller design. Next, the disturbance terms were evaluated by the designed real-time estimator, and the perturbation estimates were compensated in the conceived motion controller for cancellation of the influence of disturbances. The performance and robustness of the disturbance compensation-based controller were verified by both simulations and experiments on the developed blimp robot.