Cooperative control systems of searching targets using unmanned blimps

Author

Xia, Guoqing ; Corbett, Dan R.

Author_Institution

Power & Nucl. Eng. Coll., Harbin Eng. Univ., China

Volume

2

fYear

2004

fDate

15-19 June 2004

Firstpage

1179

Abstract

The cooperative control of multiple unmanned blimps poses significant theoretical and technical challenges. In this paper, a cooperative control system is presented to search for targets by using unmanned blimps, and the conceptual system is built with two blimps and the base station. We discuss the software structure in the base station computer, and the blimp dynamic models are expressed in the form suited for controller design. A control strategy is proposed, and Lyapunov stability theory is used to guarantee that sliding mode controllers make asymptotic system stability. A set of simulation studies is done, and the simulation results show that the system can work cooperatively and effectively.

Keywords

Lyapunov methods; aerospace robotics; asymptotic stability; balloons; control engineering computing; control system synthesis; cooperative systems; multi-robot systems; remotely operated vehicles; telerobotics; variable structure systems; Lyapunov stability theory; asymptotic system stability; base station computer; blimp dynamic models; cooperative control systems; multiple unmanned blimps; sliding mode controllers; target searching; Base stations; Computational modeling; Computer architecture; Computer simulation; Control system synthesis; Control systems; Power engineering and energy; Robot sensing systems; Sensor systems; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on

Print_ISBN

0-7803-8273-0

Type

conf

DOI

10.1109/WCICA.2004.1340800

Filename

1340800