Improved Altitude Control Method with Disturbance Compensation for an Indoor Blimp Robot

Yue Wang 1 Gang Zheng 1, 2 Denis Efimov 1 Wilfrid Perruquetti 1
1 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
2 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper presents design of altitude controller with disturbance compensation for an indoor blimp robot and its realization. Due to hardware restrictions, the altitude control behavior of blimp is modeled as a switched system with fixed time delay accompanying with uncertain bounded disturbances. HOMD differentiator is used as an observer for vertical velocity and switching signal estimation. Then a predictor-based controller is conceived, in order to compensate the perturbation, the method for disturbance evaluation is designed. Control scheme is implemented by Matlab Simulink, finally, the performance of blimp improved altitude controller is verified in experiments.
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https://hal.inria.fr/hal-01660107
Contributor : Gang Zheng <>
Submitted on : Sunday, December 10, 2017 - 12:04:20 AM
Last modification on : Friday, March 22, 2019 - 1:34:40 AM

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  • HAL Id : hal-01660107, version 1

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Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Improved Altitude Control Method with Disturbance Compensation for an Indoor Blimp Robot. CDC 2017 - 56th IEEE Conference on Decision and Control, Dec 2017, Melbourne, Australia. ⟨hal-01660107⟩

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