Disturbance Compensation Based Control for ...
Type de document :
Communication dans un congrès avec actes
Titre :
Disturbance Compensation Based Control for an Indoor Blimp Robot
Auteur(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]
Titre de la manifestation scientifique :
ICRA 2019 - International Conference on Robotics and Automation
Ville :
Montreal
Pays :
Canada
Date de début de la manifestation scientifique :
2019-05-20
Éditeur :
IEEE
Discipline(s) HAL :
Informatique [cs]/Robotique [cs.RO]
Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :