Bahram Shafai, Rifat Sipahi
Date of Award
Master of Science
Department or Academic Unit
College of Engineering, Department of Electrical and Computer Engineering
electrical engineering, robotics, computer engineering, actuator saturation, camshift, mathematical model of the blimp, pulse widfh modulation, saturation nonlinearity, vision based control of the blimp
Computer vision, Drone aircraft--Control systems
Electrical and Computer Engineering | Engineering
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.
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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