Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers

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.

	PDF - Published Version Restricted to Repository staff only Download (1MB) | Request a copy
Preview	PDF Download (482kB) | Preview

Abstract

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.

Item Type:	Conference or Workshop Item (Invited Papers)
Additional Information:	5806/44856 (ISBN: 978-1-4799-6466-6, DOI: 10.1109/ICARA.2015.7081206)
Uncontrolled Keywords:	—cascaded PD controller; hexacopter; visual servoing control; nested saturation control
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	02 Oct 2015 13:23
Last Modified:	19 Sep 2017 19:23
URI:	http://irep.iium.edu.my/id/eprint/44856

Actions (login required)

View Item