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Proceedings Paper

Design of flight control system for a robotic blimp
Author(s): Jinjun Rao; Jun Luo; Zhenbang Gong; Zhen Jiang; Shaorong Xie
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Paper Abstract

Robotic blimps present an enormous potential for applications in low-speed and low-altitude exploration, surveillance, and monitoring, as well as telecommunication relay platforms. To make our lighter-than-air platform a robotic blimp with significant levels of autonomy, the decoupled longitude and latitude dynamic model are developed, and the hardware and software of the flight control system are designed. The onboard hardware consists of blimp state observer, actuators, MCU, etc. The software functions include signals processing, data filtering and fault tolerance, ground command execution, etc. Based on decoupled dynamic model, the control system architecture is presented, and navigation strategy for waypoint flight problem is discussed. The paper gives results of a flight experiment using the designed flight control system, and the results manifests that the system is applicable and initial machine intelligence of robotic blimp is achieved.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422Q (2 May 2006); doi: 10.1117/12.664673
Show Author Affiliations
Jinjun Rao, Shanghai Univ. (China)
Jun Luo, Shanghai Univ. (China)
Zhenbang Gong, Shanghai Univ. (China)
Zhen Jiang, Shanghai Univ. (China)
Shaorong Xie, Shanghai Univ. (China)

Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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