抄録
This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.
| 本文言語 | English |
|---|---|
| ページ | 3552-3557 |
| ページ数 | 6 |
| 出版ステータス | Published - 2003 12月 26 |
| イベント | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States 継続期間: 2003 10月 27 → 2003 10月 31 |
Conference
| Conference | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| 国/地域 | United States |
| City | Las Vegas, NV |
| Period | 03/10/27 → 03/10/31 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用