CONTROLO 2008 8 Portuguese Conference on Automatic Control EXPERIMENTS ON VISION BASED CONTROL OF AN INDOORS RF BLIMP
نویسندگان
چکیده
In this paper we describe a control methodology for the navigation of an autonomous lighter-than-air vehicle based on visual input. The control system consists in a Linear Quadratic Regulator (LQR) and a Linear Quadratic Gaussian observer (LQG). Due to non-linearities in the actuators and in the radio frequency control system, some non-linear control terms are added. The additional terms lead to significant improvements in the response to sudden orientation manoeuvres, either due to command following or to disturbance rejection. In this paper we explain our approach and illustrate experimentally the benefits due to the additional non-linear control terms. Both simulations and experiments with a real indoor blimp are shown, and validate our proposed methodologies.
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