Differentiator application in altitude control for an indoor blimp robot

Wang, Yue; Zheng, Gang; Efimov, Denis; Perruquetti, Wilfrid

Document type :

Compte-rendu et recension critique d'ouvrage

DOI :

10.1080/00207179.2018.1441549

Title :

Differentiator application in altitude control for an indoor blimp robot

Author(s) :

Wang, Yue [Auteur]
Non-Asymptotic estimation for online systems [NON-A-POST]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Zheng, Gang [Auteur]

Deformable Robots Simulation Team [DEFROST ]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Efimov, Denis [Auteur]

Non-Asymptotic estimation for online systems [NON-A-POST]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Perruquetti, Wilfrid [Auteur]

Non-Asymptotic estimation for online systems [NON-A]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]

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

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 >

Language :

Anglais

Popular science :

Non

ANR Project :

Commande et estimation en temps fini pour les Systèmes de Systèmes

Collections :