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Academic Lecture: Robust control of an indoor blimp robot

Author:Administrator Source:website Time:2018-07-25 12:00:00


Topic : Robust control of an indoor blimp robot
Speaker : ZHENG, Gang
   Researcher, HDR, Non-A team, INRIA-Lille Nord Europe
Time : 10:30am   Thursday, July 26, 2018
Place : 320 Conference Room in Electronic and Information School

Abstract : 
      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.


About the speaker : 
      I received my Bachelor and Master degrees in Communication and systems in 2001 and 2004, respectively, both from Wuhan University, China, and Ph.D. degree in Automatic control from ENSEA/Université de Cergy-Pontoise, Cergy, France, in November 2006. From December 2006 to December 2007, I held a Postdoctoral position in BiPop research team of INRIA Rhône-Alpes, Grenoble, France. From January 2008 to August 2008, I was Postdoctoral researcher in CASYS research team of LJK/CNRS, Université de Joseph Fourier. From September 2008 to August 2009, I was a Teacher-Researcher in ENSEA. I joined INRIA as a permanent researcher from September 2009.