The Controller of the Camera Used in Target Tracking for Unmanned Vehicle with Model Predictive Controller

被引：0
|
作者：
Altan, Aytac [1 ]
Hacioglu, Rifat [1 ]
机构：
[1] Bulent Ecevit Univ, Elekt Elekt Muhendisligi Bolumu, Zonguldak, Turkey
来源：
2014 22ND SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | 2014年
关键词：
model predictive control; PID controller; RRP robot arm; target tracking; unmanned vehicle;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this study, unmanned vehicles used for target tracking camera RRP (revolute revolute prismatic) joint structure with a three-jointed robot arm with the position, velocity and acceleration control is made. In order to be able to follow the specified trajectory, the system used in the control of the robot arm with joint structure RRP target tracking model based on changing according to the structure proposed by the MPC is implemented. Also the PID (Proportional Integral Dervative) is provided with control comparison was made. MATLAB/Simulink simulations performed unmanned vehicles used for target tracking in robotic camera control with the system were investigated in the MPC.
引用
收藏
页码：1686 / 1689
页数：4
相关论文
共 50 条
  • [1] Fuzzy logic controller for predictive vision-based target tracking with an unmanned aerial vehicle
    Harik, El Houssein Chouaib
    Guerin, Francois
    Guinand, Frederic
    Brethe, Jean-Francois
    Pelvillain, Herve
    Parede, Jean-Yves
    ADVANCED ROBOTICS, 2017, 31 (07) : 368 - 381
  • [2] NONLINEAR MODEL PREDICTIVE CONTROLLER FOR AN UNMANNED GROUND VEHICLE ON VARIABLE TERRAIN
    Eick, Andrew
    Bevly, David
    PROCEEDINGS OF THE ASME 8TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2015, VOL 3, 2016,
  • [3] Model predictive tracking controller for a high fidelity vehicle dynamics model
    Kanchwala, Husain
    Viana, Icaro Bezerra
    Ceccoti, Marco
    Aouf, Nabil
    2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), 2019, : 1496 - 1503
  • [4] Robust model predictive controller with output feedback and target tracking
    Gonzalez, A. H.
    Odloak, D.
    IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (08): : 1377 - 1390
  • [5] A Model Predictive Controller With Switched Tracking Error for Autonomous Vehicle Path Tracking
    Sun, Chuanyang
    Zhang, Xin
    Zhou, Quan
    Tian, Ying
    IEEE ACCESS, 2019, 7 : 53103 - 53114
  • [6] A Predictive Controller for Autonomous Vehicle Path Tracking
    Raffo, Guilherme V.
    Gomes, Guilherme K.
    Normey-Rico, Julio E.
    Kelber, Christian R.
    Becker, Leandro B.
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2009, 10 (01) : 92 - 102
  • [7] Practical Nonlinear Model Predictive Controller Design for Trajectory Tracking of Unmanned Vehicles
    Pang, Hui
    Liu, Minhao
    Hu, Chuan
    Liu, Nan
    ELECTRONICS, 2022, 11 (07)
  • [8] Model Predictive Controller Approach for Automated Vehicle's Path Tracking
    Domina, Adam
    Tihanyi, Viktor
    SENSORS, 2023, 23 (15)
  • [9] Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle
    Tseng, Yi-Hsiang
    Chen, Chung-Cheng
    Lin, Chung-Huo
    Hwang, Yuh-Shyan
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2013, 2013
  • [10] Strong iISS Target Tracking Controller Design for an Unmanned Surface Vehicle with Uncertain Follower Dynamics and Target Dynamics
    Gao, Shengnan
    Peng, Zhouhua
    Wang, Dan
    Liu, Lu
    2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
12345