Abstract
Although most of existing airships employ a control method by combining propellers and rudders, such a control approach has the problem that the maneuverability is deteriorated if their traveling speed is slow. In this research, "X4-Blimp" controlled by only four propellers is proposed. Since the X4-Blimp can control its position and attitude by regulating the output of four propellers, it can realize high maneuverability, irrespective of its traveling speed. However, it is not easy to control the X4-Blimp, because it is an underactuated system. This paper proposes a method for controlling the X4-Blimp by switching two controllers, one of which is constructed by combining models that include nonlinear terms and models that only include linear terms, where those are separated from the derived dynamic model. The effectiveness of the proposed method is verified by some simulations.
