Visual feedback control of an unmanned planar blimp system with self-scheduling parameter via receding horizon approach

摘要

We consider an application of visual feedback control using receding horizon strategy to an unmanned planar blimp system. The dynamics of the system can be represented as a linear parameter varying (LPV) system with a self-scheduling parameter. First, the design method of a control Lyapunov function (CLF) is proposed for the LPV system. Then, the stability is guaranteed by using the CLF as the terminal cost in the receding horizon optimization. Second, the simulation results for a regulation problem are presented to illustrate the effectiveness of our proposed method. Finally, we construct the unmanned planar blimp system with a visual feedback control mechanism and the experimental results are shown.