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

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

Fingerprint

Airships
Robots
Experiments
Extended Kalman filters
Propellers
Kinematics
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Watanabe, K., Okamura, N., & Nagai, I. (2016). Closed-loop control experiments for a blimp robot consisting of four-divided envelopes. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 2568-2573). [7392489] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392489

Closed-loop control experiments for a blimp robot consisting of four-divided envelopes. / Watanabe, Keigo; Okamura, Naoto; Nagai, Isaku.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2568-2573 7392489.

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

Watanabe, K, Okamura, N & Nagai, I 2016, Closed-loop control experiments for a blimp robot consisting of four-divided envelopes. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392489, Institute of Electrical and Electronics Engineers Inc., pp. 2568-2573, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 11/9/15. https://doi.org/10.1109/IECON.2015.7392489
Watanabe K, Okamura N, Nagai I. Closed-loop control experiments for a blimp robot consisting of four-divided envelopes. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2568-2573. 7392489 https://doi.org/10.1109/IECON.2015.7392489
Watanabe, Keigo ; Okamura, Naoto ; Nagai, Isaku. / Closed-loop control experiments for a blimp robot consisting of four-divided envelopes. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2568-2573
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