Abstract
survey paper presents a mission-centric approach to controlling the optical axis of a video camera mounted on a camera manipulator and fixed to a quad rotor remotely operated vehicle. A four-DOF quad rotor, UAV model will be combined with a two-DOF camera kinematic model to create a single system to provide a full six DOF actuation of the camera view. This survey work proposed exploits that all signals are described in camera frame. The closed-loop controller is designed based on a Lyapunov-type analysis so that the tracking result is shown to produce Globally Uniformly Ultimately Bounded (GUUB). Computer simulation results are provided to demonstrate the suggested controller. (1)
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