Bang-bang Control with Constant Thrust of a Spherical Blimp Propelled by Ultrasound Beam
Takuro Furumoto,Masahiro Fujiwara,Yasutoshi Makino,Hiroyuki Shinoda,Takuro Furumoto,Masahiro Fujiwara,Yasutoshi Makino,Hiroyuki Shinoda
Ultrasound beam propulsion, a propulsion system that uses airborne ultrasound phased arrays (AUPAs) to propel a blimp in an indoor environment to propel a blimp, has advantages for operations near humans such as no audible noises and no risk of propeller strike. To achieve the high mobility with limited actuation force of AUPAs, the dynamics should be fully exploited. In this paper, we propose a t...
