Title
Vision based control of an autonomous blimp with actuator saturation using pluse width modulation
Advisor(s)
Mario Sznaier
Contributor(s)
Bahram Shafai, Rifat Sipahi
Date of Award
2010
Date Accepted
6-2010
Degree Grantor
Northeastern University
Degree Level
M.S.
Degree Name
Master of Science
Department or Academic Unit
College of Engineering, Department of Electrical and Computer Engineering
Keywords
electrical engineering, robotics, computer engineering, actuator saturation, camshift, mathematical model of the blimp, pulse widfh modulation, saturation nonlinearity, vision based control of the blimp
Subject Categories
Computer vision, Drone aircraft--Control systems
Disciplines
Electrical and Computer Engineering | Engineering
Abstract
The purpose of this study was tended toward applied research. This thesis demonstrated an effeffective way to track any demonstrated object with unmanned aerial vehicle (UAV) or lighter than air vehicle by using Continuously Adaptive Mean Shift (Camshift) Algorithm, Proportional-Derivative (PD) controller and the Pulse Widthmodulation (PWM).
The thesis describes a technique in which the blimp, with a wireless video camera capturing the image to a computer, and radio controlled propellers are used to move the blimp to track a target object. The code for the algorithm, written in Matlab, captures the frames and tracks the object to nd the co-ordinates of the center of the target object and sends the required pulses to the blimp through the remote controller of the blimp.
The verification of the mathematical model of the blimp is also presented in order todesign a controller for the model. During the identification cation process, It was realized that the system has saturation nonlinearities on its velocity and actuators. After validating the model, controller design procedure was also presented for the validated model of the system. Additionally, Pulse Width Modulation techniques were used to adjust the speed of the blimp and overcome the saturation nonlinearities of the system after the implementation of the PD controller.
Document Type
Master's Thesis
Rights Information
copyright 2010
Rights Holder
Korkut Bekiroglu
Permanent URL
Recommended Citation
Bekiroglu, Korkut, "Vision based control of an autonomous blimp with actuator saturation using pluse width modulation" (2010). Electrical and Computer Engineering Master's Theses. Paper 48. http://hdl.handle.net/2047/d20000909
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