Previously, a P controller was used for simplicity as it removes the requirement of keeping track of time at each time step. However, with the unstable motion of the blimp, a PID controller is needed to further stabilize the system. This is the result:

The parameters were tuned based on the tracking behaviour of the blimp. It was observed whether the blimp oscillates and is centering fast enough to the target. Then, the parameters were adjusted to account for the needed specification. The result above seems to require increasing rise time (which means increasing the P and I parameter)

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