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) |
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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 | |
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 |
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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)