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Abstract

We present the design and control of a Plasma-propelled Ultra-silence Blimp (PUB), a novel aerial robot employing plasma vector propulsion for ultra-quiet flight without mechanical propellers. The system utilizes a helium-lift platform for extended endurance and a four-layer ring asymmetric capacitor to generate ionic wind thrust. The modular propulsion units allow flexible configuration to meet mission-specific requirements, while a two-degree-of-freedom (DOF) head enables thrust vector control. A closed-loop slip control scheme is implemented for stable maneuvering. Flight experiments demonstrate full-envelope capability, including take-off, climb, hover, descent, and smooth landing, confirming the feasibility of plasma vector propulsion, the effectiveness of DOF vector control, and the stability of the control system. Owing to its low acoustic signature, structural simplicity, and high maneuverability, PUB is well suited for noise-sensitive, enclosed, and near-space applications.

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Key Features

• Silent Propulsion: Plasma-based ionic wind propulsion eliminates mechanical noise from traditional propellers
• Extended Endurance: Helium-lift platform provides buoyancy for long-duration flights
• Vector Control: Two-degree-of-freedom thrust vectoring enables precise maneuvering
• Modular Design: Four-layer ring asymmetric capacitor allows flexible configuration
• Closed-loop Control: Slip control scheme ensures stable flight in various conditions
• Full-envelope Capability: Demonstrated take-off, hover, climb, descent, and landing operations

Technical Architecture

Propulsion System: The PUB employs an innovative plasma propulsion system based on ionic wind generation. A four-layer ring asymmetric capacitor creates a high-voltage electric field that ionizes air molecules, producing thrust through ion acceleration. This eliminates the need for mechanical propellers, resulting in virtually silent operation. The modular design allows for flexible arrangement of propulsion units to accommodate different mission profiles and payload requirements.

Lift and Buoyancy: The platform utilizes helium gas for primary lift, significantly reducing power requirements for sustained flight. This approach enables extended mission durations compared to conventional multirotor systems. The buoyancy-assisted design is particularly advantageous for applications requiring persistent aerial presence, such as environmental monitoring and surveillance operations.

Vector Control System: The two-degree-of-freedom thrust vectoring head provides precise control over flight direction and attitude. By adjusting the orientation of plasma thrusters, the system achieves omnidirectional maneuverability without the need for multiple fixed-direction propulsion units. This design reduces mechanical complexity while maintaining high control authority across all flight regimes.

Control Algorithm: A closed-loop slip control scheme is implemented to maintain stable flight characteristics. The controller compensates for environmental disturbances and system uncertainties, ensuring robust performance in variable conditions. Flight experiments have validated the effectiveness of this control approach across the full flight envelope, from initial take-off through hover operations to smooth landing.

Applications

The PUB platform is uniquely suited for applications requiring ultra-quiet operation and extended flight duration. Key application domains include:

• Noise-sensitive Environments: Indoor inspections, library surveillance, hospital monitoring, and residential area operations
• Enclosed Spaces: Warehouse inventory, tunnel inspection, and underground facility monitoring
• Near-space Operations: High-altitude atmospheric research, stratospheric communications relay
• Wildlife Monitoring: Non-intrusive observation of noise-sensitive species and ecosystem studies
• Urban Surveillance: Covert security monitoring and law enforcement support
• Environmental Sensing: Air quality monitoring, gas detection, and atmospheric sampling

The combination of silent operation, extended endurance, and precise maneuverability makes PUB an excellent platform for applications where traditional propeller-based systems would be unsuitable or impractical.

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