Swing-Reducing Flight Control System for an Underactuated Indoor
Miniature Autonomous Blimp
This paper presents the first swing stabilization control for indoor
miniature autonomous blimps (MABs). Indoor MABs are safe to operate in
close proximities to humans and can fly for multiple hours, but swing
oscillation is commonly observed due to their underactuated design and
unique aerodynamic shape. In this paper, we analyze the flight
characteristics of indoor MABs, and describe the design of the
swing-reducing flight control system in detail. Key mechatronic designs
for swing-stabilization control are also presented. Experimental results
show that the proposed controller can keep the blimp travel at the
desired velocity while effectively stabilizing the swing oscillation.
The swing-reducing velocity controller is then expanded for station
keeping and waypoint navigation in 3D space.