The Stabilizer Design for a Drone-Mounted Camera Gimbal System Using Intelligent-PID Controller and Tuned Mass Damper

Kim, Min; Byun, Gi‐Sig; Kim, Gwan-Hyung; Choi, Myoung-Hoon

doi:10.14257/ijca.2016.9.5.37

Cited by 5 publications

(3 citation statements)

References 7 publications

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“…In addition, adding elastic and soft materials to the camera holder can absorb vibrations caused by the servomotors, which in turn, can significantly reduce shaking during movements. Some of these improvements are widely used in drones to reduce the shaking caused by atmospheric factors and high-speed motors [ 70 , 71 ].…”

Section: Discussionmentioning

confidence: 99%

Piton: Investigating the Controllability of a Wearable Telexistence Robot

Iskandar

Al-Sada

Miyake

et al. 2022

Sensors

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The COVID-19 pandemic impacted collaborative activities, travel, and physical contact, increasing the demand for real-time interactions with remote environments. However, the existing remote communication solutions provide limited interactions and do not convey a high sense of presence within a remote environment. Therefore, we propose a snake-shaped wearable telexistence robot, called Piton, that can be remotely used for a variety of collaborative applications. To the best of our knowledge, Piton is the first snake-shaped wearable telexistence robot. We explain the implementation of Piton, its control architecture, and discuss how Piton can be deployed in a variety of contexts. We implemented three control methods to control Piton: HM—using a head-mounted display (HMD), HH—using an HMD and hand-held tracker, and FM—using an HMD and a foot-mounted tracker. We conducted a user study to investigate the applicability of the proposed control methods for telexistence, focusing on body ownership (Alpha IVBO), mental and physical load (NASA-TLX), motion sickness (VRSQ), and a questionnaire to measure user impressions. The results show that both the HM and HH provide relevantly high levels of body ownership, had high perceived accuracy, and were highly favored, whereas the FM control method yielded the lowest body ownership effect and was least favored. We discuss the results and highlight the advantages and shortcomings of the control methods with respect to various potential application contexts. Based on our design and evaluation of Piton, we extracted a number of insights and future research directions to deepen our investigation and realization of wearable telexistence robots.

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Section: Discussionmentioning

confidence: 99%

Piton: Investigating the Controllability of a Wearable Telexistence Robot

Iskandar

Al-Sada

Miyake

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…This subject and the importance of using a gimbal on a drone was discussed by various authors [14,15]. Furthermore, a gimbal dampens vibrations, which is significantly beneficial for real-time image stabilization applications [16]. Apart from smoothing angular movements and dampening vibrations, a gimbal maintains a camera in a predefined position [17].…”

Section: Introductionmentioning

confidence: 99%

Image-Based Gimbal Control in a Drone for Centering Photovoltaic Modules in a Thermal Image

2020

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Recently, there have been many types of research applying drones with a thermal camera to detect deteriorations in photovoltaic (PV) modules. A thermal camera can measure temperatures on the surface of PV modules and find the deteriorated area. However, a thermal camera generally has a lower resolution than a visible camera because of the limitations of cost. Due to different resolutions between the visible and thermal cameras, there are often invalid frames from a thermal camera. In this paper, we describe a gimbal controller with a real-time image processing algorithm to control the angle of the camera to position the region of interest (ROI) in the center of target PV modules to solve this problem. We derived the horizontal angle and vertical position of ROI in visible images using image processing algorithms such as the Hough transform. These values are converted into a PID control signal for controlling the gimbal. This process makes the thermal camera capture the effective area of target PV modules. Finally, experimental results showed that the photovoltaic module’s control area was properly located at the center of the thermal image.

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“…Among the classical control methods, the PID algorithm has the longest history, the most extensive application, good control adaptability, and the algorithm is simple and can be implemented easily in engineering. It is also an algorithm that is widely used in the gimbal control [1][2][3] .…”

Section: Introductionmentioning

confidence: 99%

Interval Type-2 Fuzzy Sliding-Mode Control of Three-Axis Stabilization Gimbal

Yan

Shi

et al. 2020

IEEE Access

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Aiming at the attitude control problem of three-axis stabilization gimbal, an algorithm combining interval type-2 fuzzy control and sliding-mode control was designed. Firstly, the mathematical model of the three-axis stabilization gimbal actuator was established after analyzing the mechanical structure of the three-axis stabilization gimbal. Then, a sliding-mode controller was designed based on the position ring of the actuator of three-axis stabilization gimbal. An interval type-2 control was used to reduce chattering in sliding-mode control. The switching function and its derivative are taken as the input of fuzzy control, and the rate of change of the approach law is taken as the output of fuzzy control. Fuzzy control can adjust the gain of sliding-mode surface dynamically, enhance the adaptability on external random disturbance, improve the speed of convergence and weaken chattering. The simulation results show that the output of the controller designed in this paper is more stable, and the tracking of the three-axis stabilization gimbal is more rapid and accurate.INDEX TERMS Interval type-two fuzzy control; sliding-mode control; three-axis Stabilization gimbal; position ring

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The Stabilizer Design for a Drone-Mounted Camera Gimbal System Using Intelligent-PID Controller and Tuned Mass Damper

Cited by 5 publications

References 7 publications

Piton: Investigating the Controllability of a Wearable Telexistence Robot

Piton: Investigating the Controllability of a Wearable Telexistence Robot

Image-Based Gimbal Control in a Drone for Centering Photovoltaic Modules in a Thermal Image

Interval Type-2 Fuzzy Sliding-Mode Control of Three-Axis Stabilization Gimbal

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