Robust control of an indoor blimp robot



    报告题目:Robust control of an indoor blimp robot

    报告人:郑刚 研究员

    报告摘要:This seminar presents the design of a robust controller with disturbance compensation for an indoor blimp robot and its realization. The movement of blimp is decomposed into independent vertical and horizontal nonlinear systems, complemented with uncertain bounded disturbances. To design the output feedback controller, a homogeneous differentiator is used as an observer. Then the method for disturbance evaluation is designed, the perturbation estimate is used in the controller to cancel the influence of exogenous disturbances. Control scheme is implemented on a concrete blimp, and the performance of blimp disturbance compensation based controller is verified in experiments.


    郑刚,法国INRIA研究所里尔分部SyNer, CRIStAL CNRS UMR 9819 (PEDR)研究员。200611月获得法国国立电子与技术应用学院自动控制方向博士学位。200612-200712月,在法国INRIA研究所Rhône-Alpes分部BiPop实验室从事博士后研究工作。20081-20088月,在Joseph Fourier大学的LJK/CNRS CASYS实验室从事博士后研究工作。20089-20098月,在法国ENSEA学院工作,受聘为ATER20099月加入INRIA研究所,受聘为终身研究员。郑刚研究员现为IFAC TC 9.2成员,其主要研究兴趣包括复杂动态系统(ODE,DAE,TDS)的观测与控制,及其在机器人中的相关应用。