Title :
Velocity estimation and control of 3-DOF lab helicopter based on optical flow
Author :
Zhang Lianhua ; Liu Hao ; Shi Zongying ; Zhong Yisheng
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
This paper presents an angular velocity estimation method based on optical flow to address the hovering and angle tracking control problem for a three degree-of-freedom (3-DOF) lab helicopter. An analytical expression of the travel angular velocity is deduced based on optical flow. Then, a controller consisting of a feedforward controller and a linear quadratic regulation (LQR) state feedback controller is designed. Experiment results on the lab helicopter demonstrate the validity of the angular velocity estimation method and the LQR control strategy.
Keywords :
aircraft control; angular velocity control; feedforward; helicopters; image sequences; linear quadratic control; state feedback; 3-DOF lab helicopter control; LQR state feedback controller strategy; angle tracking control problem; angular velocity estimation method; feedforward controller; hovering tracking control problem; linear quadratic regulation; optical flow; three degree-of-freedom; Cameras; Computer vision; Helicopters; Image motion analysis; Optical feedback; Optical filters; Optical imaging; 3-DOF Helicopter; LQR Control; Optical flow; Vision-based Control;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606211
