文章基本信息

标题：A Study on Vision-Based Backstepping Control for a Target Tracking System
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作者：Thinh Huynh ; Minh-Thien Tran ; Dong-Hun Lee 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2021
卷号：10
期号：5
页码：105
DOI：10.3390/act10050105
出版社：MDPI Publishing
摘要：This paper proposes a new method to control the pose of a camera mounted on a two-axis gimbal system for visual servoing applications. In these applications, the camera should be stable while its line-of-sight points at a target located within the camera’s field of view. One of the most challenging aspects of these systems is the coupling in the gimbal kinematics as well as the imaging geometry. Such factors must be considered in the control system design process to achieve better control performances. The novelty of this study is that the couplings in both mechanism’s kinematics and imaging geometry are decoupled simultaneously by a new technique, so popular control methods can be easily implemented, and good tracking performances are obtained. The proposed control configuration includes a calculation of the gimbal’s desired motion taking into account the coupling influence, and a control law derived by the backstepping procedure. Simulation and experimental studies were conducted, and their results validate the efficiency of the proposed control system. Moreover, comparison studies are conducted between the proposed control scheme, the image-based pointing control, and the decoupled control. This proves the superiority of the proposed approach that requires fewer measurements and results in smoother transient responses.
关键词：backstepping control; gimbal system; imaging geometry; line-of-sight; visual servoing backstepping control ; gimbal system ; imaging geometry ; line-of-sight ; visual servoing