Closed-loop control experiments for a blimp robot consisting of four-divided envelopes

Keigo Watanabe, Naoto Okamura, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

A new blimp robot is developed to make a rise or descent movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After reviewing the structure of the proposed new body, called X4-blimp, describing the motions as the X4-blimp and several parts required as an autonomous robot, the present research mainly explains on closed-loop control of the developed blimp. In particular, a PD type closed-loop controller is designed to control basic motions, such as translational motion, pitch motion, and yaw motion, as well as describing a system model and an observation model for an extended Kalman filter with a quaternion kinematics. The usefulness of the blimp robot developed is demonstrated through some experiments with an actual prototype robot.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2568-2573
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - Jan 25 2016
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: Nov 9 2015Nov 12 2015

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period11/9/1511/12/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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