A movement control on indoor blimp robots

摘要

This paper introduces a three dimensional movement control on indoor blimp robots. There are advantages that blimps do not need driving force to float and they can move in three dimensional spaces. However, it is not easy to control them. Furthermore they are kinds of under-actuated systems with non-holonomic constraints. Therefore, we try to design a controller of blimps using non-linear control theory.