Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System

Zhou, Xiangyang; Yuan, Jia; Zhao, Qiang; Yu, Ruixia

doi:10.3390/s16030366

Cited by 16 publications

(15 citation statements)

References 21 publications

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“…The OIS systems have been designed to reduce apparent motion in image sequences by controlling the optical path sensed by sensors such as gyroscopes or accelerometers. The lens-shift OIS systems shift their optical path using optomechatronic devices such as a lens-barrel-shift mechanism [6,7], a fluidic prism [8], a magnetic 3-DOF platform [9], a deformable mirror [10], sensor-shift OIS systems to shift their image sensors using voice coil actuators [11][12][13][14][15], and hand-held OIS systems with multi-DOF gimbal control systems [16][17][18][19] have been reported by researchers. Recent consumer digital cameras have the OIS stabilization functions to remove inevitable and undesired fluctuating motion while capturing video.…”

Section: Introductionmentioning

confidence: 99%

Real-time high-resolution video stabilization using high-frame-rate jitter sensing

et al. 2019

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In this study, the novel approach of real-time video stabilization system using a high-frame-rate (HFR) jitter sensing device is demonstrated to realize the computationally efficient technique of digital video stabilization for high-resolution image sequences. This system consists of a high-speed camera to extract and track feature points in graylevel 512 × 496 image sequences at 1000 fps and a high-resolution CMOS camera to capture 2048 × 2048 image sequences considering their hybridization to achieve real-time stabilization. The high-speed camera functions as a real-time HFR jitter sensing device to measure an apparent jitter movement of the system by considering two ways of computational acceleration; (1) feature point extraction with a parallel processing circuit module of the Harris corner detection and (2) corresponding hundreds of feature points at the current frame to those in the neighbor ranges at the previous frame on the assumption of small frame-to-frame displacement in high-speed vision. The proposed hybrid-camera system can digitally stabilize the 2048 × 2048 images captured with the high-resolution CMOS camera by compensating the sensed jitter-displacement in real time for displaying to human eyes on a computer display. The experiments were conducted to demonstrate the effectiveness of hybrid-camera-based digital video stabilization such as (a) verification when the hybrid-camera system in the pan direction in front of a checkered pattern, (b) stabilization in video shooting a photographic pattern when the system moved with a mixed-displacement motion of jitter and constant low-velocity in the pan direction, and (c) stabilization in video shooting a real-world outdoor scene when an operator holding hand-held hybrid-camera module while walking on the stairs.

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Section: Introductionmentioning

confidence: 99%

Real-time high-resolution video stabilization using high-frame-rate jitter sensing

et al. 2019

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“…In [3], a hybrid adaptive fuzzy proportionalintegral-derivative (PID) controller is developed for a servo system with nonlinear property and uncertainties. In [4], a new current loop inside rate loop is particularly designed to suppress the influences of voltage fluctuation and motor back electromotive force on control precision. In [5], the model uncertainties and unmeasurable disturbances existing objectively are solved by introducing internal model control for a two-axis ISP system.…”

Section: Introductionmentioning

confidence: 99%

A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

et al. 2018

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This paper presents a high-precision control scheme based on active disturbance rejection control (ADRC) to improve the stabilization accuracy of an inertially stabilized platform (ISP) for aerial remote sensing applications. The ADRC controller is designed to suppress the effects of the disturbance on the stabilization accuracy that consists of a tracking differentiator, a nonlinear state error feedback, and an extended state observer. By the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real time. The disturbance rejection ability of the ADRC is analyzed by simulations. To verify the method, the experiments are conducted. The results show that compared with the conventional PID controller, the ADRC has excellent capability in disturbance rejection, by which the effect of main friction disturbance on the control system can be weakened seriously and the stabilization accuracy of the ISP is improved significantly.

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“…In [9], an adaptive decoupling control for three-axis gyro stabilized platform based on the NN is proposed. In [10], a three-closed-loop compound controller for a two-axis ISP with multisensors is proposed and validated by experiments. The best-known application of ISPs is stabilization and control of payloads such as electrooptical sensors and laser beams [11].…”

Section: Introductionmentioning

confidence: 99%

An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

Zhou

Yuan

et al. 2018

International Journal of Aerospace Engineering

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An improved fuzzy neural network (FNN)/proportion integration differentiation (PID) compound control scheme based on variable universe and back-propagation (BP) algorithms is proposed to improve the ability of disturbance rejection of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. In the design of improved FNN/PID compound controller, the variable universe method is firstly used for the design of the fuzzy/PID compound controller; then, the BP algorithm is utilized to finely tune the controller parameters online. In this way, the desired performances with good ability of disturbance rejection and high stabilization accuracy are obtained for the aerial ISP. The simulations and experiments are, respectively, carried out to validate the improved FNN/PID compound control method. The results show that the improved FNN/PID compound control scheme has the excellent capability in disturbance rejection, by which the ISP’s stabilization accuracy under dynamic disturbance is improved significantly.

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Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System

Cited by 16 publications

References 21 publications

Real-time high-resolution video stabilization using high-frame-rate jitter sensing

Real-time high-resolution video stabilization using high-frame-rate jitter sensing

A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

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