An unmanned planar blimp on visual feedback control: experimental results

Author

Kawai, Yasunori ; Kitagawa, Satoshi ; Izoe, S. ; Fujita, Masayuki

Author_Institution

Dept. of Electr. & Electron. Eng., Kanazawa Univ., Japan

Volume

2

fYear

2003

fDate

4-6 Aug. 2003

Firstpage

2217

Abstract

In this paper, an unmanned planar blimp system using a visual feedback control is proposed. First we derive a dynamical model of a blimp, which is described as nonlinear dynamical equations, in the proposed unmanned planar blimp system. By applying feedback linearization techniques to the derived nonlinear dynamical model of the blimp, we design a linearizing feedback PD controller whose control objective is to track desired trajectories. Second we consider asymptotic stability of the closed loop system which consists of the nonlinear dynamical model and the designed linearizing feedback PD controller. Finally we construct the proposed unmanned planar blimp system with a visual feedback control mechanism and the experimental results are shown to demonstrate the efficacy of the designed linearizing feedback PD controller.

Keywords

PD control; asymptotic stability; closed loop systems; control system synthesis; feedback; linearisation techniques; nonlinear dynamical systems; nonlinear equations; position control; remotely operated vehicles; space vehicles; asymptotic stability; closed loop system; feedback linearization techniques; linearizing feedback PD controller design; nonlinear dynamical equations; nonlinear dynamical model; trajectory control; unmanned planar blimp system; visual feedback control mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2003 Annual Conference

Conference_Location

Fukui, Japan

Print_ISBN

0-7803-8352-4

Type

conf

Filename

1324329