Abstract
This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.
Highlights
Used small-scale unmanned aerial vehicles (UAVs) can be classified into fixed-wing aircraft, helicopters and multicopters
When the miniature quadrotor UAV has a disturbing angular velocity ωbz with respect to the body coordinate from 14 s to 16 s, and the target moves with a sinusoidal translational velocity vcz from 20 s to 25 s in the simulations, the maximum horizontal tracking error u is within ±10 px for the proposed controller, and it is within ±30 px for the cascaded proportional–integral– derivative (PID) controller
In order to facilitate the control design and program debugging, host-based control system (HCS) is built as the avionics architecture of the miniature intertially stabilized platform (ISP) [28]
Summary
Used small-scale unmanned aerial vehicles (UAVs) can be classified into fixed-wing aircraft, helicopters and multicopters. The ISP greatly increases the possibilities of target detection and tracking It will have a successful behavior regardless of the rotation movement and vibration of the quadcopter or the unexpected movement of the object. Another survey paper [19] discusses in detail how to extend the inertial rate stabilizing feedback loop to a visual tracking system by suggesting the common cascaded control structure for every rotational degree-of-freedom (DOF) According to this design method, decoupled cascaded controllers for two-axis gimbal are reported in [20,21]. Considering the nonlinear characteristics of camera motion, a feedback linearizaiton-based visual pointing and tracking control scheme for an inertially stabilized double-gimbal airborne camera platform is designed in [22,23]. The airborne camera whose optical axis direction is parallel to the OXe axis is mounted on the elevation gimbal
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