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The Stabilization Loop Design for a Drone-Mounted Camera Gimbal System Using Intelligent-PID Controller
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 Title & Authors
The Stabilization Loop Design for a Drone-Mounted Camera Gimbal System Using Intelligent-PID Controller
Byun, Gi-sig; Cho, Hyung-rae;
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A flying drone generates vibrations in a great variety of frequencies, and it requires a gimbal system stabilization loop design in order to obtain clean and accurate image from the camera attached to the drone under this environment. The gimbal system for drone comprises the structure that supports the camera module and the stabilization loop which follows the precise angle while blocking the vibration from outside. This study developed a dynamic model for one axis for the stabilization loop design of a gimbal system for drones and applied classical PID controller and intelligent PID controller. The Stabilization loop design was developed by using MATLAB/Simulink and compared the performance of each controller through simulation. Especially, the intelligent PID controller can be designed almost without the dynamic model and it demonstrates that the angle can be followed without readjusting the parameters of the controller even when the characteristics of the model changes.
Drone;Gimbal System;Stabilization Loop;Intelligent PID Controller;Model-Free Controller;
 Cited by
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