抄録
In this study, we extend this control
law to three dimensions space by analyzing the relationship between the pitch angle of the balloon robot and the propulsive
characteristics of the pectoral fin motion. We analyze the relationship between the pitch angle of the balloon robot and the
propulsive characteristics of the pectoral fins and derive the output of translational velocity and turning angular velocity
by changing the motion of the pectoral fins in various ways. Based on the results, we simulate the trajectory of the aircraft.