ICUAS'17 Paper Abstract

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Paper FrA5.5

Cabarbaye, Aurélien (cinvestav), Bonilla, Moises E. (CINVESTAV-IPN), Lozano, Rogelio (University of Technology of Compiègne), Cariño Escobar, Jossué (CINVESTAV-IPN)

Fast adaptive control of a 3-DOF Inertial Stabilised Platforms based on quaternions

Scheduled for presentation during the "UAS Control - I" (FrA5), Friday, June 16, 2017, 11:20−11:40, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, Payloads, Smart Sensors

Abstract

Inertial Stabilised Platform, better known as gimbal are becoming increasingly popular, with a large range of products now available in mainstream shops. Most of these items are nonetheless controlled using very basic algorithms that do not offer best achievable performances. First, each axis is controlled independently of one another. Then, they make use of trigonometry for their calculation. Lastly, their behaviour depends on the type of payload or on the orientation of this latter. Present paper proposes an advanced control which aims at solving these classic control issues without requiring as much computational power. It is based on quaternion representation and self-adapts to the characteristics of the payload it stabilises. Although only simulation could be performed to check the performances of such control, results look very promising and may help to construct more polyvalent and efficient gimbals which would further facilitate their expansion.

 

 

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