Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective

ORCiD

Dongbin Lee: 0000-0002-5307-0374

Document Type

Conference Proceeding

Department

Electrical and Computer Engineering

Conference Title

2007 46th IEEE Conference on Decision and Control

Location

New Orleans, LA

Conference Dates

12-14 December 2007

Date of Presentation

12-1-2007

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.

Publisher

IEEE

ISBN

978-1-4244-1497-0

ISSN

0191-2216

DOI

10.1109/CDC.2007.4434940

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