Wind-disturbance-based control approach for blimp robots

Hayato Furukawa, Akira Shimada

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Blimps have some advantages, for example, that they do not need driving forces to float and can move in three-dimensional space. However, it is not easy to control them since they are underactuated systems with nonholonomic constraints. Some papers have presented control technologies, but the technologies need impractical conditions. Furukawa and colleagues presented a blimp control technology considering a nonholonomic situation, but it cannot be used to control blimps in the presence of wind disturbances. This paper introduces a wind-observer-based control approach that involves the consideration of wind disturbances. A controller based on the proposed approach can generate a driving force in the direction opposite to that of a wind disturbance and help a blimp move against the wind.

Original languageEnglish
Pages (from-to)549-555
Number of pages7
JournalElectronics and Communications in Japan
Volume97
Issue number2
DOIs
Publication statusPublished - 2014 Feb

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Airships
approach control
robots
disturbances
Robots
floats
controllers
Controllers

Keywords

  • blimp
  • motion control
  • nonholonomic
  • wind disturbance
  • wind observer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

Cite this

Wind-disturbance-based control approach for blimp robots. / Furukawa, Hayato; Shimada, Akira.

In: Electronics and Communications in Japan, Vol. 97, No. 2, 02.2014, p. 549-555.

Research output: Contribution to journalArticle

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