Robust predictive visual servoing control for an inertially stabilized platform with uncertain kinematics

2021 ◽  
Author(s):  
Xiangyang Liu ◽  
Jianliang Mao ◽  
Jun Yang ◽  
Shihua Li ◽  
Kaifeng Yang
Keyword(s):  
Visual Servoing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform ◽  
Visual Servoing Control

scholarly journals Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2243
Author(s):  
Jianchuan Guo ◽  
Chenhu Yuan ◽  
Xu Zhang ◽  
Fan Chen
Keyword(s):  
Target Detection ◽  
Feedback Linearization ◽  
Visual Servoing ◽  
Control Method ◽  
Sliding Mode ◽  
Optical Axis ◽  
Detection And Tracking ◽  
The Stability ◽  
Stabilized Platform ◽  
The Mathematical Model

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.

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