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Backstepping-Based Control of a Strapdown Boatboard Camera Stabilizer
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  • Backstepping-Based Control of a Strapdown Boatboard Camera Stabilizer
  • Backstepping-Based Control of a Strapdown Boatboard Camera Stabilizer
저자명
Setoodeh. Peyman,Khayatian. Alireza,Farjah. Ebrahim
간행물명
International Journal of Control, Automation and Systems
권/호정보
2007년|5권 1호|pp.15-23 (9 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

In surveillance, monitoring, and target tracking operations, high-resolution images should be obtained even if the target is in a far distance. Frequent movements of vehicles such as boats degrade the image quality of onboard camera systems. Therefore, stabilizer mechanisms are required to stabilize the line of sight of boatboard camera systems against boat movements. This paper addresses design and implementation of a strapdown boatboard camera stabilizer. A two degree of freedom(DOF)(pan/tilt) robot performs the stabilization task. The main problem is divided into two subproblems dealing with attitude estimation and attitude control. It is assumed that exact estimate of the boat movement is available from an attitude estimation system. Estimates obtained in this way are carefully transformed to robot coordinate frame to provide desired trajectories, which should be tracked by the robot to compensate for the boat movements. Such a practical robotic system includes actuators with fast dynamics(electrical dynamics) and has more degrees of freedom than control inputs. Backstepping method is employed to deal with this problem by extending the control effectiveness.