Abstract
The goal of the paper was to examine the changeable gain in the camera head control system which is applied to object tracking. The study assumed that in order to track objects moving on the ground, the UAV with the mounted camera would be used herein. During the flight of the UAV, there may appear various disturbances such as rapid rotations and shifts of the UAV. Furthermore, we assumed that the object was moving on the flat ground. The UAV’s velocity was far greater than the maximum velocity of the tracked object. Due to equipping the UAV with flight trajectory control system, it allowed to model the rotations and shifts of the UAV in the particular axes as independent control channels. The behaviour of the control system was also examined for the different values and types of disturbances. Developing the function which defined the relationship between the error signal and gain in the control system let us track the object appropriately. Conclusively, the results indicated on the fact that using changable gains in the camera head control system, allowed to track the object for both, the small and major disturbances. Owing to the changeable gain, it was possible to eliminate rapid reactions of the control system during major disturbances. As a consequence, there was not any overshoot - the object was being tracked even during high values of the disturbances. Simultaneously, it was noticed that the disturbances which shift the UAV in the (x, y) plane, had less impact on the appriopiate object tracking than the disturbances which rotated the UAV in the horizontal or vertical planes.
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Kuś, Z., Nawrat, A.M. (2014). Camera Head Control System with a Changeable Gain in a Proportional Regulator for Object Tracking. In: Nawrat. M, A. (eds) Innovative Control Systems for Tracked Vehicle Platforms. Studies in Systems, Decision and Control, vol 2. Springer, Cham. https://doi.org/10.1007/978-3-319-04624-2_6
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DOI: https://doi.org/10.1007/978-3-319-04624-2_6
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