Fall 2001 Example: Blimp control.31 1-4 Control objective Stabilization Red blimp tracks the motion of the green blimp ● Sensors GPS for positioning Compass for heading Gyros/GPS for roll attitude Actuators-electric motors(propellers) are very nonlinear · Dynamics rigid body" with strong apparent mass effect Roll modes · Modeling Analytic models with parameter identification to determine "mass Disturbances- windFall 2001 16.31 1—4 Example: Blimp Control • Control objective — Stabilization — Red blimp tracks the motion of the green blimp • Sensors — GPS for positioning — Compass for heading — Gyros/GPS for roll attitude • Actuators — electric motors (propellers) are very nonlinear. • Dynamics — “rigid body” with strong apparent mass effect. — Roll modes. • Modeling — Analytic models with parameter identification to determine “mass”. • Disturbances — wind