Disturbance Compensation Based Control for ...
Document type :
Communication dans un congrès avec actes
Title :
Disturbance Compensation Based Control for an Indoor Blimp Robot
Author(s) :
Wang, Yue [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Zheng, Gang [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Efimov, Denis [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Finite-time control and estimation for distributed systems [VALSE]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Finite-time control and estimation for distributed systems [VALSE]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Zheng, Gang [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Efimov, Denis [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Finite-time control and estimation for distributed systems [VALSE]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Conference title :
ICRA 2019 - International Conference on Robotics and Automation
City :
Montreal
Country :
Canada
Start date of the conference :
2019-05-20
Publisher :
IEEE
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
English abstract : [en]
This paper presents design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp in horizontal plane is modeled as a slider-like nonlinear system complemented ...
Show more >This paper presents design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp in horizontal plane is modeled as a slider-like nonlinear system complemented with uncertain bounded disturbances. To design the output feedback controller, a homogeneous differentiator is used as an observer. Then the method for disturbance evaluation is designed, the perturbation estimate is next used in the controller for cancellation of the influence of exogenous disturbances. Control scheme is implemented on a concrete blimp, finally, the performance of blimp disturbance compensation based controller is verified in experiments.Show less >
Show more >This paper presents design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp in horizontal plane is modeled as a slider-like nonlinear system complemented with uncertain bounded disturbances. To design the output feedback controller, a homogeneous differentiator is used as an observer. Then the method for disturbance evaluation is designed, the perturbation estimate is next used in the controller for cancellation of the influence of exogenous disturbances. Control scheme is implemented on a concrete blimp, finally, the performance of blimp disturbance compensation based controller is verified in experiments.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
Source :