Differentiator application in altitude control for an indoor blimp robot

Yue Wang (1, 2) , Gang Zheng (3, 2) , Denis Efimov (1, 2) , Wilfrid Perruquetti (4, 2)

1 NON-A-POST - Non-Asymptotic estimation for online systems
2 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
3 DEFROST - Deformable Robots Simulation Team
4 NON-A - Non-Asymptotic estimation for online systems

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.

Mots clés: Differentiator; Flying robots; Output feedback control; Control of switched system

Domaines: Automatique / Robotique

Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti. Differentiator application in altitude control for an indoor blimp robot. International Journal of Control, 2018, 91 (9), pp.2121 - 2130. ⟨10.1080/00207179.2018.1441549⟩. ⟨hal-01889244⟩