  We present an aerial vehicle composed of a custom quadrotor with tilted
rotors and a helium balloon, called SBlimp. We propose a novel control strategy
that takes advantage of the natural stable attitude of the blimp to control
translational motion. Different from cascade controllers in the literature that
controls attitude to achieve desired translational motion, our approach
directly controls the linear velocity regardless of the heading orientation of
the vehicle. As a result, the vehicle swings during the translational motion.
We provide a planar analysis of the dynamic model, demonstrating stability for
our controller. Our design is evaluated in numerical simulations with different
physical factors and validated with experiments using a real-world prototype,
showing that the SBlimp is able to achieve stable translation regardless of its
orientation.
