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

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606211

Filename

6606211