An approach to wind harness control on blimp robots

There are some advantages that blimps do not need driving force to float and they can move in 3D spaces. However, it is not easy to control them because they are kinds of under-actuated systems with non-holonomic constraints. Some papers have already presented the control technology but they need some impractical conditions. This paper introduces a movement control considering the wind by making use of wind observer. Furthermore, the controller has generate the driving force of the component facing to wind and the component for movement considering its acceleration constraint.