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Conference papers

Disturbance Compensation Based Control for an Indoor Blimp Robot

Yue Wang 1, 2 Gang Zheng 2, 3 Denis Efimov 2, 1 Wilfrid Perruquetti 2
1 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
2 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 DEFROST - Deformable Robots Simulation Team
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This paper presents design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp in horizontal plane is modeled as a slider-like nonlinear system complemented with uncertain bounded disturbances. To design the output feedback controller, a homogeneous differentiator is used as an observer. Then the method for disturbance evaluation is designed, the perturbation estimate is next used in the controller for cancellation of the influence of exogenous disturbances. Control scheme is implemented on a concrete blimp, finally, the performance of blimp disturbance compensation based controller is verified in experiments.
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Conference papers
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https://hal.inria.fr/hal-02406847
Contributor : Gang Zheng Connect in order to contact the contributor
Submitted on : Thursday, December 12, 2019 - 11:46:31 AM
Last modification on : Thursday, March 24, 2022 - 3:43:37 AM

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CRISTAL | INRIA2 | INRIA | UNIV-LILLE | CRISTAL-VALSE | CRISTAL-DEFROST | CNRS

Citation

Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Disturbance Compensation Based Control for an Indoor Blimp Robot. ICRA 2019 - International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.2040-2046, ⟨10.1109/ICRA.2019.8793535⟩. ⟨hal-02406847⟩

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