ICRA 2019poster37 citations
Disturbance Compensation Based Control for an Indoor Blimp Robot
Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti
Abstract
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.
BibTeX
@inproceedings{icra2019_disturbancecompe,
title = {Disturbance Compensation Based Control for an Indoor Blimp Robot},
author = {Yue Wang and Gang Zheng and Denis Efimov and Wilfrid Perruquetti},
booktitle = {ICRA 2019},
year = {2019}
}