Balance beam, a controller that is built adopting the gyro effect, can freely control the attitude of an unstructured object by means of the position controlling of an inner gimbal. However in the former research, the weight (inertia) of a load should be known to issue a proper command for the gimbal, which makes it hard to operate the balance beam in field applications because the load can be ...

of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy NONLINEAR CONTROL FOR SYSTEMS CONTAINING INPUT UNCERTAINTY VIA A LYAPUNOV-BASED APPROACH By William MacKunis May 2009 Chair: Dr. Warren E. Dixon Major: Aerospace Engineering Controllers are often designed based on the assumption that a c...

El presente documento trata sobre el diseño, desarrollo y análisis de un prototipo gimbal 2 ejes, acoplado a dron tipo cuadricóptero. La estructura es fabricada por medio impresión 3D como controlador del circuito electrónico se utiliza Arduino. Se desarrolla para estabilizar dos cámaras en conjunto con módulo láser método escaneo iluminación estructurada Smartphone fotogrametría. explica la ob...

This paper studies an adaptive control strategy for a 2-axes gimbal structure loading device stair-climbing delivery robot. The properties of the change depending on luggage, and loaded luggage cannot be specified. It is difficult to design appropriate controller with fixed PID gains. To optimize regardless condition, conducted by system identification gain scheduling. estimates parameters dyna...

A guided depth-first search that manages null motion about torque-producing trajectories calculated with a singularity-robust inverse is proposed as a practical feedforward steering law that can globally avoid (or minimize the impact of) singular states in minimally-redundant systems of single gimballed control moment gyroscopes. Cost and heuristic functions are defined to guide the search proc...

The job of a camera operator is challenging, and potentially dangerous, when filming long moving shots. Broadly, the must keep actors in frame while safely navigating around obstacles fulfilling an artistic vision. We propose unified hardware software system that distributes some operator’s burden, freeing up to focus on safety aesthetics during take. Our real-time provides solo operators with ...