Title :
A movement control on indoor blimp robots
Author :
Shimada, Akira ; Furukawa, Hayato ; Uchimura, Yutaka
Author_Institution :
Dept. of Eng. & Design, Shibaura Inst. of Technol., Tokyo, Japan
Abstract :
This paper introduces a three dimensional movement control on indoor blimp robots. There are advantages that blimps do not need driving force to float and they can move in three dimensional spaces. However, it is not easy to control them. Furthermore they are kinds of under-actuated systems with non-holonomic constraints. Therefore, we try to design a controller of blimps using non-linear control theory.
Keywords :
control system synthesis; mobile robots; motion control; nonlinear control systems; controller design; indoor blimp robot; nonholonomic constraint; nonlinear control theory; three dimensional movement control; under-actuated system; Aerospace electronics; Propellers; Robot kinematics; Three dimensional displays; Trajectory; blimp; control; nonholonomic system; robots;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
