Analysis of Maximum Possible Sampling Period for a Real-Time Vision-Based Control System

Drone control systems are experiencing more and more challenges when integrating with more sensors. For example, the drone visual servoing systems often have a large sampling period due to limited on-board computing capability. Therefore, controllers that can tolerate a large sampling period are needed. Our previous work showed that a fractional order proportional-derivative controller (FOPD controller) can tolerate a larger sampling period than an integer order proportionalintegralderivative controller (IOPID controller). In this paper, we verified this conclusion using control system stability criteria to estimate the largest sampling periods and time-domain simulation.