Presentation
Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective
2007 46th IEEE Conference on Decision and Control
ORCiD
Dongbin Lee: 0000-0002-5307-0374
Document Type
Conference Proceeding
Department
Electrical and Computer Engineering
Location
New Orleans, LA
Conference Dates
12-14 December 2007
Date of Presentation
12-1-2007
Disciplines
Abstract
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.
Publisher
IEEE
ISBN
978-1-4244-1497-0
DOI
10.1109/CDC.2007.4434940
Citation Information
Dongbin Lee, Vilas K. Chitrakaran, Timothy C. Burg, Darren M. Dawson, et al.. "Control of a Remotely Operated Quadrotor Aerial Vehicle and Camera Unit Using a Fly-The-Camera Perspective" 2007 46th IEEE Conference on Decision and Control (2007) ISSN: 0191-2216 Available at: http://works.bepress.com/dongbin-lee/12/