Parameter Identification of Blimp Dynamics through Swinging Motion


Indoor miniature autonomous blimp (MAB) is a small-sized aerial platform with outstanding safety and flight endurance. A detailed six-degree-of-freedom (6DOF) dynamics model is critical for controller design and motion simulation. This paper presents the identification of the rotation-related parameters of the blimp dynamics model through swing motion of the robot. A pendulum-like grey box model is constructed to identify the parameters from physical measurements and system identification experiments. The pendulum-like dynamics model with identified parameters is then linearized for future controller design and validated with experimental data.

15th International Conference on Control, Automation, Robotics and Vision
Mengxue Hou
Mengxue Hou
Assistant Professor, Electrical Engineering

My research interests include robotic autonomy, mobile sensor networks, and human robot interaction. I aim to devise practical, computationally-efficient, and provably-correct algorithms that prepare robotic systems to be cognizant, taskable, and adaptive, and can collaborate with human operators to co-exist in a complex, ever-changing and unknown environment.