The Stabilization of Position and Attitude for a Blimp by a Switching Controller
Keywords:
X4-Blimp, underactuated control, switching controlAbstract
In recent years, the development of unmanned airvehicles aiming at vegetation observation, information gathering
of a disaster site, etc. is increasing. Among them, airships are attractive because of good energy efficiency and it is possible to be
employed for a long time cruise. Especially, small airships called “blimp” have been developing to make the management easy.
Although most of existing airships employ control methods by combining propellers and rudders, such a control approach has
the problem that the maneuverability is deteriorated if their traveling speed is slow because the airflow received by rudders is
weakened. In this research, “X4-Blimp” is proposed as a blimp controlled by only four propellers without any rudders, and it is
controlled by a switching controller
References
[1] K. Kawabata, Y. Hada, and H. Asama, “Robotics research related to lighter than air aircraft,” Journal of Robotics Society of Japan,
2004, pp. 901–905.
[2] Y. Nakamura, K. Watanabe, and I. Nagai, “Underactuated control for a blimp with four-propellers by a logical switching method,”
Proc. of the 18th Int. Symposium on Artificial Life and Robotics (AROB 18th '13), Daejeon, Korea, January 30-February 1, 2013,
pp. 69–72.
[3] K. Watanabe, K. Izumi, K. Okamura, and S. Rafiuddin, “Discoutinuous underactuated control for lateral X4 autonomous underwater vehicles,” Proc. of the 2nd International Conference on Underwater System Technology: Theory and Applications, 2008, Paper ID 14.
[4] WL. Xu and BL. Ma, “Stabilization of second-order nonholonomic system in canonical chained form,” Robotics and Autonomous Systems 34, 2001, pp. 223–233.
[5] MC. Laiou and A. Astolfi, “Local transformations to generalized chained forms,” Proc. of the 16th International Symposium on
Mathematical Theory of Networks and Systems, 2004.
[6] JP. Hespanha and A.S. Morse, “Stabilization of nonholonomic intergrators via logic-based switching,” Automatica 35, 1999, pp. 385–393.
