The purpose of this study is to construct an automatic control form that can stably and precisely control the movement of a balloon robot by applying a control system using a temporal state control form with the movement distance as the time axis. Using this system, simulations were conducted for multiple paths to confirm the performance of the control system. As a result of the simulation, it was confirmed that the arrival speed to the target axis and the trajectory can be changed by changing the newly introduced gain. In addition, the same control system was able to track a complex path combining straight lines in the simulation. These results show that the control system developed in this study can be controlled more precisely than the time-state control form with the x-axis as the time axis, and also has high versatility by adjusting the gain.
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