Control architecture for a UAV-mounted pan/tilt/roll camera gimbal

Ole C. Jakobsen, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents the architecture of a pan/tilt/roll camera control system implemented on the Georgia Tech's UAV research helicopter, the GTMax. The controller has currently three operating modes available: it can keep the camera at a fined angle with respect to the helicopter, make the camera point In the direction of the helicopter velocity vector, or track a specific location. The camera is mounted in a large, but relatively light gimbal. Each axis is driven by a modified servo, and optical encoders measure the gimbal orientation. A PID controller with anti-windup and derivative filtering was designed in Simulink based on simple models of the servos and later implemented on the real system. A discussion of results obtained from Hardware-In-The-Loop tests and fliglit tests is given at the end of the paper.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - InfoTech at Aerospace
Subtitle of host publicationAdvancing Contemporary Aerospace Technologies and Their Integration
Pages2170-2179
Number of pages10
Volume4
StatePublished - Dec 1 2005
EventInfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration - Arlington, VA, United States
Duration: Sep 26 2005Sep 29 2005

Other

OtherInfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration
CountryUnited States
CityArlington, VA
Period9/26/059/29/05

Fingerprint

Unmanned aerial vehicles (UAV)
Cameras
Helicopters
Servomotors
Controllers
Derivatives
Hardware
Control systems

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Jakobsen, O. C., & Johnson, E. (2005). Control architecture for a UAV-mounted pan/tilt/roll camera gimbal. In Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration (Vol. 4, pp. 2170-2179)
Jakobsen, Ole C. ; Johnson, Eric. / Control architecture for a UAV-mounted pan/tilt/roll camera gimbal. Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration. Vol. 4 2005. pp. 2170-2179
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Jakobsen, OC & Johnson, E 2005, Control architecture for a UAV-mounted pan/tilt/roll camera gimbal. in Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration. vol. 4, pp. 2170-2179, InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration, Arlington, VA, United States, 9/26/05.

Control architecture for a UAV-mounted pan/tilt/roll camera gimbal. / Jakobsen, Ole C.; Johnson, Eric.

Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration. Vol. 4 2005. p. 2170-2179.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Jakobsen OC, Johnson E. Control architecture for a UAV-mounted pan/tilt/roll camera gimbal. In Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration. Vol. 4. 2005. p. 2170-2179