Abstract
We propose the new form of the airship robot: the coupled balloon airship robot. This robot has two or more balloons. The head of each balloon is connected to the other tail. Only one of the balloons can control movement and attitude and tow the other balloons. The advantage of this robot is it has many free payload in the gondolas other than active controllable one. In this paper, we use Memory-based PID controller for the flight control of the coupled balloon robot. This method; one of memory based modeling methods, can adjust the PID parameters in an on-line even if reference signals are changed, and/or system parameters are changed. We describe construction of airship robot hardware, design of flight control architecture and results of experiments in a computer simulation and real world. From the experimental result, effectiveness of a Memory-Based PID method was revealed to control of an airship. In control of the coupled balloons airship robot using Memory-Based PID method, high performance of the control stability better than normal airship robot was indicated.
