Visual feedback control of an unmanned planar blimp system with self-scheduling parameter via receding horizon approach

Author

Kawai, Yasunori ; Hirano, Hiroyuki ; Azuma, Takehito ; Fujita, Masayuki

Author_Institution

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

Volume

2

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

1603

Abstract

We consider an application of visual feedback control using receding horizon strategy to an unmanned planar blimp system. The dynamics of the system can be represented as a linear parameter varying (LPV) system with a self-scheduling parameter. First, the design method of a control Lyapunov function (CLF) is proposed for the LPV system. Then, the stability is guaranteed by using the CLF as the terminal cost in the receding horizon optimization. Second, the simulation results for a regulation problem are presented to illustrate the effectiveness of our proposed method. Finally, we construct the unmanned planar blimp system with a visual feedback control mechanism and the experimental results are shown.

Keywords

Lyapunov methods; aerospace control; computer vision; control system synthesis; feedback; linear systems; optimal control; optimisation; remotely operated vehicles; control Lyapunov function; linear parameter varying system; receding horizon approach; self-scheduling parameter; unmanned planar blimp system; visual feedback control; Cameras; Constraint optimization; Control systems; Cost function; Design methodology; Feedback control; Lyapunov method; Open loop systems; Robot vision systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387605

Filename

1387605