Motion Control in Three Dimensional Round System of Blimp Robot

Blimp robots are attractive as indoor flying robots because they can float in the air, land safely with low energy, and stay in motion for a long time compared with other flying robots. However, controlling of blimp robots is difficult, because they have nonlinear characteristics, are influenced by air streams, and is easy to be influenced of inertia. Therefore a robust and adaptive control system is needed for blimp robots. The applied research that paid its attention to the feature of indoor flying robot in recent years has prospered. Operating an indoor blimp robot for a long time is difficult for the payload is small, many batteries cannot be stacked, and the design of a thruster that has freedom and the entire blimp robot. Therefore, an autonomous charge that enables operation for a long time is needed. We developed a round orbit control to the surveillance point for an autonomous of a blimp robot. The possibility of round surveillance three dimensional orbit controls was shown