Implementation of Robust Stability Augmentation Systems for a Blimp

概要

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This paper applies robust control techniques to a blimp. The project “Mine Detection System Using Blimps” is in progress. The aim of the project is the development of a practical technique for the autonomous detection of landmines and their positions. In order for a blimp to perform observation and detection, precise flight path control is needed. The error resulting from modeling a real system cannot be avoided, however accurate the model is. In order to aim for realistic control, robust control can compensate model uncertainty. In the two-motion models presented (experimental model and analytical model), it was found that since the yawing motion mode is unstable, lateral-directional movement becomes unstable. This paper proposes a robust stability augmentation system for the yawing motion of the blimp developed for the project. The numerical simulation presents a comparison between a Kharitonov theory controller and a H∞ theory controller. The experimental results show that control of the blimp using a H∞ controller is more suitable for the project objective. An emphasis is placed on implementation of the controller.
社団法人日本航空宇宙学会の論文
2003-11-04