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.
Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps
Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. A detailed dynamics model is critical for investigating this undesired movement and designing controllers to stabilize the oscillation. This paper presents a motion model that describes the coupled translational and rotational movements of a typical indoor MAB with saucer- shaped envelope. The kinematics and dynamic model of the MAB are simplified from the six-degrees-of-freedom (6-DOF) Newton–Euler equations of underwater vehicles. The model is then reduced to 3-DOF given the symmetrical design of the MAB around its vertical axis. Parameters of the motion model are estimated from the system identification experiments, and validated with experimental data.
- Publication Date:
- NSF-PAR ID:
- 10212088
- Journal Name:
- 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)
- Page Range or eLocation-ID:
- 339 to 344
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Publisher's Version of Record
- https://doi.org/10.1109/ICARCV50220.2020.9305371
