@inproceedings{e73401fabfb64542a0e302eef7f1c40a,
title = "Control architecture for a UAV-mounted pan/tilt/roll camera gimbal",
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.",
author = "Jakobsen, {Ole C.} and Johnson, {Eric N.}",
year = "2005",
doi = "10.2514/6.2005-7145",
language = "English (US)",
isbn = "1563477394",
series = "Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
pages = "2170--2179",
booktitle = "Collection of Technical Papers - InfoTech at Aerospace",
note = "InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration ; Conference date: 26-09-2005 Through 29-09-2005",
}