Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers
In this paper, a new integrated control system via visual-servoing and cascaded proportional derivative (PD) controllers for an autonomous hexacopter is proposed. The spherical image based visual servoing is designed to control the hexacopter to the desired pose with respect to an arbitrary targe...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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2015
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| Online Access: | http://irep.iium.edu.my/44856/ http://irep.iium.edu.my/44856/ http://irep.iium.edu.my/44856/ http://irep.iium.edu.my/44856/1/44856.pdf http://irep.iium.edu.my/44856/4/44856_Stabilization%20and%20control%20of%20autonomous%20hexacopter_Scopus.pdf |
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iium-44856 |
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eprints |
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iium-448562017-09-19T11:23:49Z http://irep.iium.edu.my/44856/ Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers Ahmed, O. A. Latief, Marsad Ali, M. A. Akmeliawati, Rini TJ212 Control engineering In this paper, a new integrated control system via visual-servoing and cascaded proportional derivative (PD) controllers for an autonomous hexacopter is proposed. The spherical image based visual servoing is designed to control the hexacopter to the desired pose with respect to an arbitrary target in three-dimensional (3D) workspace based on images captured. Meanwhile, the cascade-PD controller is designed to stabilize and to control the altitude and heading of the hexacopter. The proposed control strategy is compared with the nested saturation control laws which are adapted to control the horizontal trajectory of the vehicle along X and Y-axes. Simulation results show the ability of the proposed controller in driving the unmanned aerial vehicle (UAV) to the desired pose successfully. The performance of the proposed controllers outperforms the nested saturation controller in tracking a fixed target. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/44856/1/44856.pdf application/pdf en http://irep.iium.edu.my/44856/4/44856_Stabilization%20and%20control%20of%20autonomous%20hexacopter_Scopus.pdf Ahmed, O. A. and Latief, Marsad and Ali, M. A. and Akmeliawati, Rini (2015) Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers. In: 2015 6th International Conference on Automation, Robotics and Applications (ICARA 2015), 17th-19th Feb. 2015, Rydges Lakeland Resort, Queenstown, New Zealand. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7081206 doi:10.1109/ICARA.2015.7081206 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English |
| topic |
TJ212 Control engineering |
| spellingShingle |
TJ212 Control engineering Ahmed, O. A. Latief, Marsad Ali, M. A. Akmeliawati, Rini Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers |
| description |
In this paper, a new integrated control system via
visual-servoing and cascaded proportional derivative (PD)
controllers for an autonomous hexacopter is proposed. The
spherical image based visual servoing is designed to control the hexacopter to the desired pose with respect to an arbitrary target in three-dimensional (3D) workspace based on images captured.
Meanwhile, the cascade-PD controller is designed to stabilize and to control the altitude and heading of the hexacopter. The proposed control strategy is compared with the nested saturation control laws which are adapted to control the horizontal trajectory of the vehicle along X and Y-axes. Simulation results show the ability of the proposed controller in driving the unmanned aerial vehicle (UAV) to the desired pose successfully.
The performance of the proposed controllers outperforms the nested saturation controller in tracking a fixed target. |
| format |
Conference or Workshop Item |
| author |
Ahmed, O. A. Latief, Marsad Ali, M. A. Akmeliawati, Rini |
| author_facet |
Ahmed, O. A. Latief, Marsad Ali, M. A. Akmeliawati, Rini |
| author_sort |
Ahmed, O. A. |
| title |
Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers |
| title_short |
Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers |
| title_full |
Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers |
| title_fullStr |
Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers |
| title_full_unstemmed |
Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers |
| title_sort |
stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (pd) controllers |
| publishDate |
2015 |
| url |
http://irep.iium.edu.my/44856/ http://irep.iium.edu.my/44856/ http://irep.iium.edu.my/44856/ http://irep.iium.edu.my/44856/1/44856.pdf http://irep.iium.edu.my/44856/4/44856_Stabilization%20and%20control%20of%20autonomous%20hexacopter_Scopus.pdf |
| first_indexed |
2018-09-07T06:32:29Z |
| last_indexed |
2018-09-07T06:32:29Z |
| _version_ |
1610929353049243648 |