Altitude Control 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
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
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 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 time-varying delay. HOSM differentiator is used as an observer for vertical velocity, it is also used in order to estimate the switching signal. Then a predictor-based controller is conceived, its gain is determined by common Lyapunov function method to ensure the global uniform exponential stability of switched system. Control scheme is implemented by Matlab Simulink, finally, the performance of blimp altitude controller is verified in experiments.
Type de document :
Communication dans un congrès
IFAC World Congress, Jul 2017, Toulouse, France
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https://hal.inria.fr/hal-01660109
Contributeur : Gang Zheng <>
Soumis le : dimanche 10 décembre 2017 - 00:08:35
Dernière modification le : jeudi 11 janvier 2018 - 06:27:32

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  • HAL Id : hal-01660109, version 1

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Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Altitude Control for an Indoor Blimp Robot. IFAC World Congress, Jul 2017, Toulouse, France. 〈hal-01660109〉

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