Dynamics Modeling and Controller Design for a Novel Indoor Blimp

摘要

Due to its safety and endurance, the indoor blimp robot is an ideal choice for cruise monitoring and inspection. In order to adapt to the complex indoor scene, a helium-filled blimp is studied in this paper. The dynamic model of the aerial robot is established by using Newton Euler equation, and the main characteristics are then analyzed based on the derived model. Furthermore, the linear quadratic regulator controller is designed to control the airship motion in the vertical plane. Based on the model, a simulation platform is constructed for further analysis and controller verification. Finally, simulation results are presented to show the correctness of the dynamic model.