Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps

Tao, Qiuyang; Hou, Mengxue; Zhang, Fumin

doi:10.1109/icarcv50220.2020.9305371

Cited by 11 publications

(5 citation statements)

References 29 publications

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“…where D is the aerodynamic drag coefficient for the vertical movement. As justified in our previous paper 28 , D can be well approximated as a positive constant for indoor miniature blimps. The term f z (t) represents the thrust force in the vertical direction.…”

Section: Problem Formulationmentioning

confidence: 83%

Human Pointing Motion during Interaction with an Autonomous Blimp

Hou

Tao

Zhang

2022

Preprint

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We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller.The Vector Integration to Endpoint (VITE) model, previously applied to human-computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human-blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia, which does not appear in HCI using computer mouse. The asymptotic stability of the human-blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp.

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Section: Problem Formulationmentioning

confidence: 83%

Human Pointing Motion during Interaction with an Autonomous Blimp

Hou

Tao

Zhang

2022

Preprint

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“…The GT-MAB has symmetric design around the vertical axes and capable of pointing the thrust vector in arbitrary 3D direction. Therefore, our previous work [34] has reduced the full 6-DOF motion model of the GT-MAB to 3-DOF movement on a vertical plane. Shown in Fig.…”

Section: B 3-dof Motion Model At Cgmentioning

confidence: 99%

“…The motion model of the coupled translational and rotational movement is recalled in Eq. ( 2), and the identification of the model parameters is presented in our previous works [16], [34]. Due to the bottom-heavy design of indoor MABs, we assume CG is the pivot of the swing oscillation.…”

Section: B 3-dof Motion Model At Cgmentioning

confidence: 99%

“…Unfortunately, the control system introduced in [17] cannot stabilize the oscillation in while the blimp is in translational flight. Our recent paper [34] identified the motion model of the coupled translational and rotational movements of the indoor blimp, GT-MAB. However, the controller design was not presented in [34].…”

Section: Introductionmentioning

confidence: 99%

“…Our recent paper [34] identified the motion model of the coupled translational and rotational movements of the indoor blimp, GT-MAB. However, the controller design was not presented in [34].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Swing-Reducing Flight Control System for an Underactuated Indoor Miniature Autonomous Blimp

Tao

Wang

et al. 2021

IEEE/ASME Trans. Mechatron.

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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 swingstabilization 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.

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