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

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

doi:10.1109/CCA.2013.6662888

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

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

Methodology Center

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2013 IEEE International Conference on Control Applications, CCA 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1036-1041
Number of pages	6
ISBN (Print)	9781479915590
DOIs	https://doi.org/10.1109/CCA.2013.6662888
State	Published - Jan 1 2013
Event	2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India Duration: Aug 28 2013 → Aug 30 2013

Other

Other	2013 IEEE International Conference on Control Applications, CCA 2013
Country/Territory	India
City	Hyderabad
Period	8/28/13 → 8/30/13

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

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10.1109/CCA.2013.6662888

Cite this

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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.",

author = "Korkut Bekiroglu and Mario Sznaier and Lagoa, {Constantino Manuel} and Bahram Shafai",

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doi = "10.1109/CCA.2013.6662888",

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booktitle = "2013 IEEE International Conference on Control Applications, CCA 2013",

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note = "2013 IEEE International Conference on Control Applications, CCA 2013 ; Conference date: 28-08-2013 Through 30-08-2013",

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Bekiroglu, K, Sznaier, M, Lagoa, CM & 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., 6662888, Institute of Electrical and Electronics Engineers Inc., pp. 1036-1041, 2013 IEEE International Conference on Control Applications, CCA 2013, Hyderabad, India, 8/28/13. https://doi.org/10.1109/CCA.2013.6662888

Vision based control of an autonomous blimp with actuator saturation using pulse-width modulation. / Bekiroglu, Korkut; Sznaier, Mario; Lagoa, Constantino Manuel; Shafai, Bahram.

2013 IEEE International Conference on Control Applications, CCA 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 1036-1041 6662888.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

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AU - Bekiroglu, Korkut

AU - Sznaier, Mario

AU - Lagoa, Constantino Manuel

AU - Shafai, Bahram

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N2 - 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.

AB - 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.

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

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