Paper Info
Title
Vision based control of an autonomous blimp with actuator saturation using pulse-width modulation
Abstract
This paper demonstrates an effective way to track any targeted object with unmanned aerial vehicle (UAV) by using Continuously Adaptive Mean Shift (Camshift) Algorithm, Proportional-Derivative (PD) controller and Pulse Width modulation (PWM). The approach proposed in this paper is applied to a blimp equipped with a Wireless video Camera and radio controlled propellers. When determining the model that best describes the behaviour of the blimp, it was found that a good approximation of the behaviour is accomplished by a model that includes saturations in velocity and actuation. The controller proposed is designed in two steps: first, one determines a PD controller that satisfies the specifications for the model without saturations. Then, PWM is used to address the effect of nonlinearities.
Year
DOI
Venue
2013
10.1109/CCA.2013.6662888
Control Applications
Keywords
Field
DocType
PD control,actuators,autonomous aerial vehicles,computer vision,control nonlinearities,control system synthesis,pulse width modulation,Camshift algorithm,PD controller,PWM,UAV,actuation saturation,actuator saturation,autonomous blimp,continuously adaptive mean shift algorithm,controller design,nonlinearities effect,proportional-derivative controller,pulse width modulation,radio controlled propellers,unmanned aerial vehicle,velocity saturation,vision based control,wireless video camera
Computer science,Control theory,Control engineering,Artificial intelligence,Robotics,Blimp,Control theory,PID controller,Propeller,Simulation,Pulse-width modulation,Mean-shift,Actuator
Conference
ISSN
Citations 
PageRank 
1085-1992
1
0.40
References 
Authors
10
4
Name
Order
Citations
PageRank
Bekiroglu, K.1115.32
Mario Sznaier265656.66
Constantino M. Lagoa316425.38
Bahram Shafai44819.92