Inverse optimal tracking control of an aerial blimp robot

Inverse optimal tracking control is applied to an aerial blimp which is one of the underactuated systems. In the inverse optimal control approach, a controller is designed by using a control Lyapunov function and Sontag's formula. The controller minimizes some meaningful cost dependent on the controller, which is not given in advance, and the designed system has a stability margin which guarantees robustness with respect to input uncertainties. This robust property is a very important issue for a blimp which has large uncertainties. Some experiments are performed by using an indoor blimp.