Abstract:
This paper presents a mission-centric approach to controlling the optical axis of a video camera mounted on a camera manipulator and fixed to a quadrotor remotely operate...Show MoreMetadata
Abstract:
This paper presents a mission-centric approach to controlling the optical axis of a video camera mounted on a camera manipulator and fixed to a quadrotor remotely operated vehicle. A four-DOF quadrotor, 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 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.
Published in: 2007 46th IEEE Conference on Decision and Control
Date of Conference: 12-14 December 2007
Date Added to IEEE Xplore: 21 January 2008
ISBN Information:
Print ISSN: 0191-2216