Adaptive trajectory tracking for an indoor blimp based on MPC and NDO

Indoor blimp has been widely studied because of its excellent safety and endurance capabilities. This paper focuses on the analysis of a helium-filled blimp operating in an indoor environment. The three degrees of freedom dynamic model is decoupled into planar motion and vertical motion, which are organized in the form of state space. To improve the anti-disturbance performance of the blimp, a model predictive control strategy based on a nonlinear disturbance observer is designed, and the mathematical derivation of the design is given in detail here. Finally, this paper builds a simulation platform and verifies the effectiveness of the control algorithm through the simulation results.