Model Predictive Control of an Autonomous Blimp with Input and Output Constraints

Outdoor remotely controlled airships can be used as aerial observation and scientific data-gathering platforms for a wide variety of applications. If such airships can also be configured to operate in an autonomous mode, their efficacy is greatly enhanced. The aim of this paper is to critically review the available literature on design of controllers to help identify a design that is most suitable for imparting autonomous flight capability to an existing remotely controlled airship. The paper provides a brief description of various outdoor autonomous airship projects that have been pursued globally. A six-DOF nonlinear model of the airship is discussed, which can be used to reproduce the airship response to the inputs of actuator and wind disturbances. The linearization of this model for trim conditions over the flight envelope results in the decoupling of the longitudinal and lateral motions, and allows a thorough analysis of the airship control design problem over the entire aerodynamic range.

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“…Model predictive control was proposed by Fukushima et al 25 in 2006. Recently, Yang et al 13 have investigated sliding mode control.…”

Section: Fig 7 Dynamic Inversion Control Systemmentioning

confidence: 99%

Controller Design for an Outdoor Autonomous Airship

Potdaar

Sinha

Pant

2013

AIAA Lighter-Than-Air Systems Technology (LTA) Conference

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“…The work of [27] used neuronal controllers whose parameters are trained in simulation to map visual input into motor commands, in order to accelerate the movement of flying robot while avoiding collisions. The authors of [28,29] used model predictive control to handle the constraints of motor saturation and dead-zone, realized point reaching with straight trajectory. The authors of [30] combined their Gaussian Processes (GP) enhanced model to reinforcement learning and designed a controller for blimp yaw and yaw rate control.…”

Section: Related Workmentioning

confidence: 99%

Disturbance compensation based controller for an indoor blimp robot

Wang

Zheng

Efimov

et al. 2020

Robotics and Autonomous Systems

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This paper presents the robust controller design for an indoor blimp robot to achieve application such as the surveillance. The commonly used 6 degrees of freedom dynamic model is simplified under reasonable assumptions and decoupled into two independent parts. The blimp simplified horizontal plane movement model is complemented with disturbance terms to ensure the modeling accuracy, then it is transformed to a simpler form for the ease of controller design. Next, the disturbance terms are evaluated by the designed real-time estimator, and the perturbation estimates are compensated in the conceived motion controller for cancellation of the influence of disturbances. The performance and robustness of the disturbance compensation-based controller are verified by both simulations and experiments on the developed blimp robot. Finally, the results prove the feasibility of the blimp robot in indoor surveillance application by stabilizing itself at a fixed position or patrolling along a predefined path.

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“…Another control technique is variable structure (also known as sliding mode) control [31,[75][76][77]. In this approach, a hyper surface (in state space) called sliding surface or switching surface is selected so that the system trajectory exhibits desirable behavior when confined to this hyper surface.…”

Section: Introductionmentioning

confidence: 99%

Lighter than Air Robots

Sebbane

2012

Intelligent Systems, Control and Automation: Science and Engineering

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No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work.Cover design: VTeX UAB, Lithuania

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Model Predictive Control of an Autonomous Blimp with Input and Output Constraints

Cited by 19 publications

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Controller Design for an Outdoor Autonomous Airship

Controller Design for an Outdoor Autonomous Airship

Disturbance compensation based controller for an indoor blimp robot

Lighter than Air Robots

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