Differentiator application in altitude ...
Document type :
Compte-rendu et recension critique d'ouvrage
Title :
Differentiator application in altitude control for an indoor blimp robot
Author(s) :
Wang, Yue [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Non-Asymptotic estimation for online systems [NON-A-POST]
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]
Non-Asymptotic estimation for online systems [NON-A-POST]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Non-Asymptotic estimation for online systems [NON-A]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Non-Asymptotic estimation for online systems [NON-A-POST]
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]
Non-Asymptotic estimation for online systems [NON-A-POST]
Perruquetti, Wilfrid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Non-Asymptotic estimation for online systems [NON-A]
Journal title :
International Journal of Control
Pages :
2121 - 2130
Publisher :
Taylor & Francis
Publication date :
2018-03-20
ISSN :
0020-7179
English keyword(s) :
Differentiator
Flying robots
Output feedback control
Control of switched system
Flying robots
Output feedback control
Control of switched system
HAL domain(s) :
Sciences de l'ingénieur [physics]/Automatique / Robotique
English abstract : [en]
This paper presents design of altitude controller with disturbance compensation for an indoor blimp robot and its realisation. Due to hardware restrictions, the altitude control behaviour of blimp is modelled as a switched ...
Show more >This paper presents design of altitude controller with disturbance compensation for an indoor blimp robot and its realisation. Due to hardware restrictions, the altitude control behaviour of blimp is modelled as a switched system with a constant time-delay complemented with uncertain bounded disturbances. In order to achieve state estimation, four differentiators are applied and compared, then HOMD (homo-geneous finite-time) differentiator is chosen as an observer for vertical velocity and switching signal estimation. Next, a predictor-based controller is conceived, and in order to compensate the perturbation, the method for disturbance evaluation is designed still with the help of HOMD differentiator. Control scheme is implemented by Matlab Simulink, and finally, the performance of blimp altitude controller is verified in experiments.Show less >
Show more >This paper presents design of altitude controller with disturbance compensation for an indoor blimp robot and its realisation. Due to hardware restrictions, the altitude control behaviour of blimp is modelled as a switched system with a constant time-delay complemented with uncertain bounded disturbances. In order to achieve state estimation, four differentiators are applied and compared, then HOMD (homo-geneous finite-time) differentiator is chosen as an observer for vertical velocity and switching signal estimation. Next, a predictor-based controller is conceived, and in order to compensate the perturbation, the method for disturbance evaluation is designed still with the help of HOMD differentiator. Control scheme is implemented by Matlab Simulink, and finally, the performance of blimp altitude controller is verified in experiments.Show less >
Language :
Anglais
Popular science :
Non
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