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 language | English |
|---|---|
| Pages (from-to) | 549-555 |
| Number of pages | 7 |
| Journal | Electronics and Communications in Japan |
| Volume | 97 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2014 Feb |
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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 journal › Article
}
TY - JOUR
T1 - Wind-disturbance-based control approach for blimp robots
AU - Furukawa, Hayato
AU - Shimada, Akira
PY - 2014/2
Y1 - 2014/2
N2 - 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.
AB - 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.
KW - blimp
KW - motion control
KW - nonholonomic
KW - wind disturbance
KW - wind observer
UR - http://www.scopus.com/inward/record.url?scp=84893841049&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893841049&partnerID=8YFLogxK
U2 - 10.1002/ecj.11498
DO - 10.1002/ecj.11498
M3 - Article
AN - SCOPUS:84893841049
VL - 97
SP - 549
EP - 555
JO - Electronics and Communications in Japan
JF - Electronics and Communications in Japan
SN - 1942-9533
IS - 2
ER -