Swing-Reducing Flight Control System for an Underactuated Indoor Miniature Autonomous Blimp

被引：15

作者：

Tao, Qiuyang ^{[1
]}

Wang, Junkai ^{[1
]}

Xu, Zheyuan ^{[1
]}

Lin, Tony X. ^{[1
]}

Yuan, Ye ^{[2
]}

Zhang, Fumin ^{[1
]}

机构：

[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

[2] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Wuhan 430074, Peoples R China

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2021年 / 26卷 / 04期

关键词：

Oscillators; Mechatronics; Control systems; Attitude control; Navigation; Transceivers; Three-dimensional displays; Flight control system; miniature autonomous blimp (MAB); swing oscillation; ROBOT;

D O I：

10.1109/TMECH.2021.3073966

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents the first swing-stabilization control for indoor miniature autonomous blimps (MABs). Indoor MABs are safe to operate in close proximities to humans and can fly for multiple hours, but swing oscillation is commonly observed due to their underactuated design and unique aerodynamic shape. In this article, we analyze the flight characteristics of indoor MABs, and describe the design of the swing-reducing flight control system in detail. Key mechatronic designs for swing-stabilization control are also presented. Experimental results show that the proposed controller can keep the blimp travel at the desired velocity while effectively stabilizing the swing oscillation. The swing-reducing velocity controller is then expanded for station keeping and waypoint navigation in a 3-D space.

引用

页码：1895 / 1904

页数：10

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