Wind-disturbance-based control approach for blimp robots

Hayato Furukawa, Akira Shimada

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


Blimps have some advantages, for example, that they do not need driving forces to float and can move in three-dimensional space. However, it is not easy to control them since they are underactuated systems with nonholonomic constraints. Some papers have presented control technologies, but the technologies need impractical conditions. Furukawa and colleagues presented a blimp control technology considering a nonholonomic situation, but it cannot be used to control blimps in the presence of wind disturbances. This paper introduces a wind-observer-based control approach that involves the consideration of wind disturbances. A controller based on the proposed approach can generate a driving force in the direction opposite to that of a wind disturbance and help a blimp move against the wind.

Original languageEnglish
Pages (from-to)52-59
Number of pages8
JournalElectronics and Communications in Japan
Issue number2
Publication statusPublished - 2014 Feb


  • blimp
  • motion control
  • nonholonomic
  • wind disturbance
  • wind observer

ASJC Scopus subject areas

  • Signal Processing
  • Physics and Astronomy(all)
  • Computer Networks and Communications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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