DocumentCode
2044767
Title
An approach to wind harness control on blimp robots
Author
Shimada, Akira ; Furukawa, Hayato
Author_Institution
Dept. of Eng. & Design, Shibaura Inst. of Technol., Tokyo, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
368
Lastpage
369
Abstract
There are some advantages that blimps do not need driving force to float and they can move in 3D spaces. However, it is not easy to control them because they are kinds of under-actuated systems with non-holonomic constraints. Some papers have already presented the control technology but they need some impractical conditions. This paper introduces a movement control considering the wind by making use of wind observer. Furthermore, the controller has generate the driving force of the component facing to wind and the component for movement considering its acceleration constraint.
Keywords
airships; observers; robots; 3D spaces; acceleration constraint; blimp robots; driving force; nonholonomic constraints; under-actuated systems; wind harness control; wind observer; Aerospace electronics; Force; Mathematical model; Observers; Propellers; Robots; Simulation; Blimp; motion control; non-holonomic; wind disturbance; wind observer;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060681
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