Optimal Control for the Target-Tracking Problem using Three-Axis Camera Gimbals
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Abstract
In this paper, the target-tracking problem of a 3-axis camera gimbal mounted on a flying vehicle is considered. In order to keep the camera’s line of sight continuously pointing to a moving target, an optimal controller using LQR control techniques is applied. The motion equations of the gimbal system are derived by the Lagrangian approach considering the vehicle motion. The LQR controller is designed based on the system’s continuously linearized model. A tuning method for the LQR is also proposed to make the gimbal system point to a moving target in the shortest time. The feasibility of the proposed controller is shown by numerical simulations.
Keywords
Optimal Control, LQR, Camera Gimbal, Line of Sight (LOS)
Article Details
References
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[3] S. B. Kim, S. H. Kim and Y. K. Kwak, Robust control for a two-axis gimbaled sensor system with multivariable feedback systems, in IET Control Theory & Applications (2010), vol. 4, no. 4, 539-551.
[4] H. Özgür, E. Aydan, E. İsmet, Proxy-based sliding mode stabilization of a two-axis gimbaled platform, Proceedings of the World Congress on Engineering and Computer Science (2011), Vol 1.
[5] M. Abdo, A. Tolei, A. R. Vali, & M. R. Arvan, Cascade control system for two axes gimbal system with mass unbalance, International Journal of Scientific & Engineering Research (2013), 4(9), 903-913.
[6] A. Cabarabayey, J. C. Escobar, R. Lozano, M. B. Estrada, Fast adaptive control of a 3-DOF inertial stabilised platforms based on quaternions, International Conference on Unmanned Aircraft Systems (ICUAS) (2017), 1463-1469.
[7] A. Altan, R. Hacioğlu, Modeling of three-axis gimbal system on unmanned air vehicle (UAV) under external disturbances, 25th Signal Processing and Communications Applications Conference (SIU) (2017), 1-4.
[8] Nguyen Van Khang, Dynamics of Multibody Systems (in Vietnamese), Science and Technology Publishing House, 2nd edition, 2017.
[9] F.L. Lewis, D. Vrabie, V.L. Syrmos, Optimal Control, John Wiley & Sons, 3rd edition, 2012.