Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective
Dongbin Lee: 0000-0002-5307-0374
Electrical and Computer Engineering
2007 46th IEEE Conference on Decision and Control
New Orleans, LA
12-14 December 2007
Date of Presentation
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.
Chitrakaran, V. K.,
Burg, T. C.,
Dawson, D. M.,
Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective.
Paper presented at 2007 46th IEEE Conference on Decision and Control in New Orleans, LA.