Stationary position control of a wheeled blimp

This paper describes a stationary position control of a wheeled blimp. The wheeled blimp is composed of a blimp filled with helium gas and a wheeled vehicle part. The wheeled blimp is designed to enable both flying in the air and standing on the floor. The wheeled blimp stands on the floor keeping its balance. However, it is difficult for the wheeled blimp to maintain a stationary position in standing phase since the stationary blimp system responds sensitively to air current even in indoor environments. In order to keep the stationary position restraining motion caused by an uncertain airflow, a position controller for the wheeled blimp is needed. Controller design based on dynamic m...