Title:  Modeling and Control of Indoor Miniature Autonomous Blimps

Committee: 

Dr. F. Zhang, Advisor    

Dr. Vela, Chair

Dr. Zhao

Abstract:

The objective of the proposed research is to identify the 6-DOF model and design flight controller for an indoor miniature autonomous blimp. The proposed work consists of further improving the mechatronics platform, dynamics modeling, and flight control system of the blimp. The mechatronics will have reduced response time, higher sensing capability, and more onboard computational power. The full 6-DOF dynamics model of the blimp will be identified, unveiling the unknown coupling between translational and rotational aerodynamics of the robot. The flight control system will also be updated to handle the coupled 6-DOF dynamics of the blimp.