Hovering Control of Outdoor Blimp Robots Based on Path Following
Hitomu Saiki*, Takanori Fukao*, Takateru Urakubo**,
and Takashi Kohno***
*Department of Mechanical Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan
**Department of System Science, Kobe University, Japan
***Japan Aerospace Exploration Agency, Japan
After large-scale disasters, a surveillance system is required to gather information about the stricken area safely and quickly. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering of outdoor blimp robots under strong winds by a path-following approach. The method consists of inverse optimal path-following control in the horizontal plane and Proportional-Integral-Derivative (PID) control for altitude and pitching motion of the blimp in the longitudinal plane. Some simulations and experiments for a 12m class outdoor blimp are performed to confirm the usefulness of the proposed method.
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