BACKSTEPPING-BASED CONTROL OF A STRAPDOWN BOATBOARD CAMERA STABILIZER
Publish place: 11th Iranian Conference on Electric Engineering
Publish Year: 1382
نوع سند: مقاله کنفرانسی
زبان: English
View: 1,602
This Paper With 9 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
ICEE11_105
تاریخ نمایه سازی: 18 تیر 1391
Abstract:
As a boat is easy to shake with waves, a stabilizer is required to stabilize the line of sight of a boatboard camera against boat movements. Especially in surveillance, monitoring, and target tracking operations, high stabilizing performance is needed to obtain a high-resolution image even if the target is in the far distance. This paper addresses design and implementation of a strapdown boatboard camera stabilizer. A two degree of freedom (yaw/pitch) robot performs the stabilization task. The main problem is divided into two subproblems dealing with attitude estimation and attitude control. A sophisticated data fusion algorithm based on an extended Kalman filter (EKF) fuses strapdown rate gyro measurements with measurements of some drift free aiding sensors and gives accurate estimates of boat movements. Estimates obtained in this way provide trajectories, which should be tracked by the robot to compensate boat movements. Such a practical robotic system includes actuators with fastdynamics (electrical dynamics) so it has more degrees of freedom than control inputs. Backstepping design will be employed to deal with this problem in order to extend the control effectiveness of the system
Keywords:
Attitude Control , Attitude Estimation , Backstepping , Data Fusion , Extended Kalman Filter (EKF) , Robot , Strapdown Inertial Navigation System (INS
Authors
P. Setoodeh
Department of Electrical Engineering, School of Engineering, Shiraz University
مراجع و منابع این Paper:
لیست زیر مراجع و منابع استفاده شده در این Paper را نمایش می دهد. این مراجع به صورت کاملا ماشینی و بر اساس هوش مصنوعی استخراج شده اند و لذا ممکن است دارای اشکالاتی باشند که به مرور زمان دقت استخراج این محتوا افزایش می یابد. مراجعی که مقالات مربوط به آنها در سیویلیکا نمایه شده و پیدا شده اند، به خود Paper لینک شده اند :