| The purpose of this study was tended toward applied research. This thesis demonstrated an effective way to track any defined object with unmanned aerial vehicle (UAV) or lighter than air vehicle by using Continuously Adaptive Mean Shift (Camshift) Algorithm, Proportional-Derivative (PD) controller and the Pulse Width modulation (PWM).;The thesis describes a technique in which the blimp, with a wireless video camera capturing the image to a computer, and radio controlled propellers are used to move the blimp to track a target object. The code for the algorithm, written in Matlab, captures the frames and tracks the object to find the co-ordinates of the center of the target object and sends the required pulses to the blimp through the remote controller of the blimp.;The verification of the mathematical model of the blimp is also presented in order to design a controller for the model. During the identification process, It was realized that the system has saturation nonlinearities on its velocity and actuators. After validating the model, controller design procedure was also presented for the validated model of the system. Additionally, Pulse Width Modulation techniques were used to adjust the speed of the blimp and overcome the saturation nonlinearities of the system after the implementation of the PD controller. |
