The controller of the camera used in target tracking for unmanned vehicle with model predictive controller

Author

Altan, Aytac ; Hacioglu, R.

Author_Institution

Elektrik-Elektron. Muhendisligi Bolumu, Bulent Ecevit Univ., Zonguldak, Turkey

fYear

2014

fDate

23-25 April 2014

Firstpage

1686

Lastpage

1689

Abstract

In this study, unmanned vehicles used for target tracking camera RRP (revolute revolute prismatic) joint structure with a three-jointed robot arm with the position, velocity and acceleration control is made. In order to be able to follow the specified trajectory, the system used in the control of the robot arm with joint structure RRP target tracking model based on changing according to the structure proposed by the MPC is implemented. Also the PID (Proportional Integral Dervative) is provided with control comparison was made. MATLAB/Simulink simulations performed unmanned vehicles used for target tracking in robotic camera control with the system were investigated in the MPC.

Keywords

acceleration control; cameras; position control; remotely operated vehicles; robots; target tracking; velocity control; MATLAB; MPC; PID; Simulink; acceleration control; model predictive controller; position control; proportional integral dervative; robot arm control; robotic camera control; target tracking camera revolute revolute prismatic; unmanned vehicles; velocity control; MATLAB; Mathematical model; Predictive control; Robots; Target tracking; Vehicles; PID controller; RRP robot arm; model predictive control; target tracking; unmanned vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Communications Applications Conference (SIU), 2014 22nd

Conference_Location

Trabzon

Type

conf

DOI

10.1109/SIU.2014.6830572

Filename

6830572