期刊
UNMANNED SYSTEMS
卷 9, 期 1, 页码 73-86出版社
WORLD SCI PUBL CO INC
DOI: 10.1142/S2301385021500060
关键词
Miniature autonomous blimp; dynamic modeling; system identification; flight control system
资金
- ONR [N00014-19-1-2556, N00014-19-1-2266]
- AFOSR [FA9550-19-1-0283]
- NSF [CNS-1828678, SAS-1849228, GCR-1934836]
- NRL [N00173-17-1-G001, N00173-19-P-1412]
- NOAA [NA16NOS0120028]
This paper presents modeling, identification, and control system design to reduce swing oscillation in indoor miniature autonomous blimps, with successful verification on the Georgia-Tech Miniature Autonomous Blimp.
Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. This paper presents the modeling, identification and control system design that reduce the swing oscillation of an MAB during hovering flight. We establish a dynamic model to describe the swing motion of the MAB. The model parameters are identified from both physical measurements, computer modeling and experimental data captured during flight. A control system is designed to stabilize the swing motion with features including low latency and center-of-mass (CM) position estimation. The modeling and control methods are verified with the Georgia-Tech Miniature Autonomous Blimp (GT-MAB) during hovering flight. The experimental results show that the proposed methods can effectively reduce the swing oscillation of GT-MAB.
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