Control for Suppressing Roll Motion of Outdoor Blimp Robots for Disaster Surveillance

Abstract

This paper describes a control method for suppressing roll motion of outdoor blimp robots for disaster surveillance. In order to collect the information at the disaster site, it is useful to use a blimp, because of its low-sky availability, safety and long flight. The purpose of this study is to suppress the pendular motion around the x-axis of the blimp that is caused by the yaw motion at the moment of taking the rudder control. We provide a new control input of X-wing fin to generate roll moment such as general airplane ’s aileron control. It is a simple idea that the required roll moment is generated at the moment of yawing of the blimp. Some simulations and experiments for a 12m class outdoor blimp are performed to confirm the usefulness of the proposed methods.