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

Ole C. Jakobsen, Eric N. Johnson

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

3 Scopus citations

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
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages2170-2179
Number of pages10
ISBN (Print)1563477394, 9781563477393
DOIs
StatePublished - 2005
EventInfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration - Arlington, VA, United States
Duration: Sep 26 2005Sep 29 2005

Publication series

NameCollection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration
Volume4

Other

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

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Jakobsen, O. C., & Johnson, E. N. (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 (pp. 2170-2179). (Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration; Vol. 4). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2005-7145