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 controlller is designed based on the system’s continuouly 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.
Optimal Control, LQR, Camera Gimbal, Line of Sight (LOS)
224-C1, Hanoi University of Science and Technology 1 Dai Co Viet, Hai Ba Trung, Hanoi, Vietnam Tel: +84 (024) 3623.0949 | email: firstname.lastname@example.org
TẠP CHÍ KHOA HỌC VÀ CÔNG NGHỆ Giấy phép số37/GP-BTTTT (15/01/2021) Giấy phép sửa đổi, bổ sung số140/GP-BTTTT (05/3/2021) Đơn vị cấp phép:Bộ Thông tin và Truyền thông Cơ quan chủ quản:Trường Đại học Bách Khoa Hà Nội Phó tổng biên tập phụ trách:GS. Đinh Văn Phong