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A Hybrid Controller Design for Human-Assistive Piloting of an Underactuated Blimp

Wugang Meng, Tianfu Wu, Qiuyang Tao, Fumin Zhang

Abstract

This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for underactuated robots. To tackle this challenge, we introduced an assisted piloting hybrid controller with a preemptive mechanism, that seamlessly switches between executing human commands and activating automatic stabilization control. Our algorithm ensures that the automatic stabilization controller operates within the time delay between human observation and perception, providing assistance to the driver in a way that remains imperceptible.

A Hybrid Controller Design for Human-Assistive Piloting of an Underactuated Blimp

Abstract

This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for underactuated robots. To tackle this challenge, we introduced an assisted piloting hybrid controller with a preemptive mechanism, that seamlessly switches between executing human commands and activating automatic stabilization control. Our algorithm ensures that the automatic stabilization controller operates within the time delay between human observation and perception, providing assistance to the driver in a way that remains imperceptible.
Paper Structure (11 sections, 16 equations, 9 figures)

This paper contains 11 sections, 16 equations, 9 figures.

Table of Contents

  1. Introduction
  2. Background on Blimp Design
  3. Actuation Design
  4. Coordinate Frame Systems
  5. Underactuated Motion Model of Blimp
  6. Hybrid Controller Design
  7. Balancing Controller
  8. Stabilizing Controller
  9. Preemptive Mechanism
  10. Experimental Results
  11. Conclusion

Figures (9)

  • Figure 1: Photograph of a human operator operating an indoor miniature blimp.
  • Figure 2: Top view of the GT-MAB gondola. The horizontally mounted thrusters form an X-shaped configuration to achieve symmetric holonomic actuation.
  • Figure 3: Coordinate frame systems of the blimp.
  • Figure 4: The balanced forces of Blimp for compensated pitch-up torque.
  • Figure 5: Force analysis of Blimp in horizontal motion.
  • ...and 4 more figures