A PID Control with Self-tuning Output Predictive Compensation for Quadcopter Visual Servo System

• Main Authors: Cheng, Wei-Chen, 鄭幃宸
• Other Authors: Cheng, Stone
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/8a59b3

碩士 === 國立交通大學 === 機械工程系所 === 105 === Vehicles controlled by visual tracking will encounter image transmission delay, especially in wireless case. Some mobile vehicles like ships and aircrafts will need more time to respond than cars, cause difficulties in tracking. This study utilize LBP (Local Binary Pattern) cascade classifier to detect target and a PID controller with prediction algorithm to minimize the negative effect caused by delay. This study use quadcopter as vehicle with its camera to capture image, and utilizing wireless protocol to transmit video to ground station computer. Computer carries out collecting data, performing the calculations, verify and optimize the output prediction with enhanced PID control, and then send control parameters back to quadcopter. This algorithm has reduced the negative impact brought by delay, thus enhance quadcopter's stability and response.