This article presents the first swing-stabilization control for indoor miniature autonomous blimps (MABs). Indoor MABs are safe to operate in close proximities to humans and can fly for multiple hours, but swing oscillation is commonly observed due to their underactuated design and unique aerodynamic shape. In this article, we analyze the flight characteristics of indoor MABs, and describe the design of the swing-reducing flight control system in detail. Key mechatronic designs for swing-stabilization control are also presented. Experimental results show that the proposed controller can keep the blimp travel at the desired velocity while effectively stabilizing the swing oscillation. The swing-reducing velocity controller is then expanded for station keeping and waypoint navigation in a 3-D space.

中文翻译：

---

欠驱动室内微型自主飞艇减摆飞行控制系统

本文介绍了室内微型自主飞艇 (MAB) 的第一个摆动稳定控制。室内 MAB 可以安全地在靠近人类的地方运行，并且可以飞行数小时，但由于其欠驱动设计和独特的空气动力学形状，通常会观察到摆动振荡。在本文中，我们分析了室内 MAB 的飞行特性，并详细描述了减摆飞行控制系统的设计。还介绍了摆动稳定控制的关键机电一体化设计。实验结果表明，所提出的控制器可以使飞艇以所需的速度行驶，同时有效地稳定摆动振荡。然后将降低摆动的速度控制器扩展到 3D 空间中的站点保持和航路点导航。