Disturbance Compensation Based Control for an Indoor Blimp Robot - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

Disturbance Compensation Based Control for an Indoor Blimp Robot

Résumé

This paper presents design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp in horizontal plane is modeled as a slider-like nonlinear system complemented with uncertain bounded disturbances. To design the output feedback controller, a homogeneous differentiator is used as an observer. Then the method for disturbance evaluation is designed, the perturbation estimate is next used in the controller for cancellation of the influence of exogenous disturbances. Control scheme is implemented on a concrete blimp, finally, the performance of blimp disturbance compensation based controller is verified in experiments.
Fichier non déposé

Dates et versions

hal-02406847 , version 1 (12-12-2019)

Identifiants

Citer

Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Disturbance Compensation Based Control for an Indoor Blimp Robot. ICRA 2019 - International Conference on Robotics and Automation, May 2019, Montreal, Canada. pp.2040-2046, ⟨10.1109/ICRA.2019.8793535⟩. ⟨hal-02406847⟩
28 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More