Swing-Reducing Flight Control System for an Underactuated Indoor Miniature Autonomous Blimp
نویسندگان
چکیده
This article presents the first swing-stabilization control for indoor miniature autonomous blimps (MABs). Indoor MABs are safe to operate in close proximities humans and can fly multiple hours, but swing oscillation is commonly observed due their underactuated design unique aerodynamic shape. In this article, we analyze flight characteristics of MABs, describe swing-reducing system detail. Key mechatronic designs also presented. Experimental results show that proposed controller keep blimp travel at desired velocity while effectively stabilizing oscillation. The then expanded station keeping waypoint navigation a 3-D space.
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ژورنال
عنوان ژورنال: IEEE-ASME Transactions on Mechatronics
سال: 2021
ISSN: ['1941-014X', '1083-4435']
DOI: https://doi.org/10.1109/tmech.2021.3073966