In this paper, we develop a method to realize an autonomous periodic motion of a small blimp system in a horizontal plane. The idea behind the method is to make the dynamics of a small blimp system approach asymptotically to that of the van der Pol equation that has a limit cycle. The method consists of the following two steps: First, we introduce two constraints. One has a role to connect the motion equation of a small blimp system with the van der Pol equation, and the other has a role to divide the coupled system into two independent systems. Second, we design an output stabilizing controller for each of two independent systems, so that the two constraints are fulfilled.
Synthesis of autonomous periodic motion of a small blimp system using the van der Pol equation
ASCC, Asian Control Conference, 7 ; 953-958
2009
6 Seiten, 4 Quellen
Aufsatz (Konferenz)
Englisch
Autonomous miniature blimp navigation with online motion planning and re-planning
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