Abstract
This paper presents a vision-based tracking method for controlling camera line of sight (LOS) with a gimbaled structure carried on a dynamic platform. Due to intentional maneuvers, inadvertent motions, and additional disturbances effected on the gimbal, the vision tracking performance and gimbal motion response may be significantly reduced. Thus, a combined tracking algorithm is proposed to increase the robustness and effectiveness of image-based tracking process. From the tracked locations, desired motions of the gimbal are obtained. In the closed loop control system, camera and image-based tracking algorithm work as a transportation delay, so a standard image-based visual control displays limited performance. Therefore, a PID controller based on the Smith Predictor is implemented for the gimbal motion control to overcome this problem. Finally, experimental studies validating proposed system are presented.
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