Vision based control of an autonomous blimp with actuator saturation using pulse-width modulation

Korkut Bekiroglu, Mario Sznaier, Constantino Manuel Lagoa, Bahram Shafai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Control Applications, CCA 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1036-1041
Number of pages6
ISBN (Print)9781479915590
DOIs
StatePublished - Jan 1 2013
Event2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India
Duration: Aug 28 2013Aug 30 2013

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
CountryIndia
CityHyderabad
Period8/28/138/30/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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    Bekiroglu, K., Sznaier, M., Lagoa, C. M., & Shafai, B. (2013). Vision based control of an autonomous blimp with actuator saturation using pulse-width modulation. In 2013 IEEE International Conference on Control Applications, CCA 2013 (pp. 1036-1041). [6662888] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2013.6662888