Tracking control for angular-rate-sensorless vertical take-off and landing aircraft in the presence of angular-position measurement delay

The paper presents the results of research on assessing the accuracy of angular position measurement relative to the sea horizon using a camera mounted on an unmanned bathymetric surveying vehicle of the Unmanned Surface Vehicle (USV) or Unmanned Aerial Vehicle (UAV) type. The first part of the article presents the essence of the problem. The rules of taking the angular position of the vehicle into account in bathymetric surveys and the general concept of the two-camera tilt compensator were described. The second part presents a mathematical description of the meters characterizing a resolution and a mean error of measurements, made on the base of the horizon line image, recorded with an optical system with a Complementary Metal-Oxide Semiconductor (CMOS) matrix. The phenomenon of the horizon line curvature in the image projected onto the matrix that appears with the increase of the camera height has been characterized. The third part contains an example of a detailed analysis of selected cameras mounted on UAVs manufactured by DJI, carried out using the proposed meters. The obtained results including measurement resolutions of a single-pixel and mean errors of the horizon line slope measurement were presented in the form of many tables and charts with extensive comments. The final part presents the general conclusions from the performed research and a proposal of directions for their further development.

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Design of a high-performance optical system for angular position measurement: optical and electronic strategies for uncertainty reduction

Proceedings of the 20th IEEE Instrumentation Technology Conference (Cat. No.03CH37412) ◽

10.1109/imtc.2003.1207939 ◽

2004 ◽

Cited By ~ 1

Author(s):

L. Rovati

Keyword(s):

Optical System ◽

High Performance ◽

Angular Position ◽

Uncertainty Reduction ◽

Position Measurement

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Effect of Position Measurement Delay on the Performance of PMSM Drive

2018 IEEE Energy Conversion Congress and Exposition (ECCE) ◽

10.1109/ecce.2018.8558059 ◽

2018 ◽

Cited By ~ 2

Author(s):

Anant Kumar Singh ◽

Ramakrishnan Raja ◽

Tomy Sebastian ◽

Abraham Gebregergis

Keyword(s):

Position Measurement ◽

Measurement Delay

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Fuzzy Control of an Inverted Pendulum

Volume 6: 16th Computers in Engineering Conference ◽

10.1115/96-detc/cie-1441 ◽

1996 ◽

Author(s):

Tuna Balkan ◽

Mehmet Emin Ari

Keyword(s):

Inverted Pendulum ◽

Fuzzy Controller ◽

Angular Position ◽

Upright Position ◽

Control Signal ◽

Position Measurement ◽

Pendulum System ◽

Inverted Pendulum System ◽

And Performance ◽

The Stability

Abstract An inverted pendulum system has been designed and constructed as a physical model of inherently unstable mechanical systems. The vertical upright position of a pendulum is controlled by changing the horizontal position of a cart to which the pendulum is hinged. The stability of the system has been investigated when a fuzzy controller is used to produce the control signal, while making a single measurement. It has been shown that by using simple fuzzy rules to allow real time computation with a single angular position measurement, the system can not be made absolutely stable. However, the stability and performance of the system have been considerably improved by shrinking the membership functions of angular position, computed angular velocity and control signal when inverted pendulum is very close to the vertical upright position.

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