Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps

Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. A detailed dynamics model is critical for investigating this undesired movement and designing controllers to stabilize the oscillation. This paper presents a motion model that describes the coupled translational and rotational movements of a typical indoor MAB with saucer-shaped envelope. The kinematics and dynamic model of the MAB are simplified from the six-degrees-of-freedom (6-DOF) Newton-Euler equations of underwater vehicles. The model is then reduced to 3-DOF given the symmetrical design of the MAB around its vertical axis. Parameters of the motion model are estimated from the system identification experiments, and validated with experimental data.