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Nonlinear Camera Gimbal Visual Servoing Using Command Filtered Backstepping

Fadjar Rahino Triputra, Riyanto Bambang, Trio Adiono, Adhy Sasongko


This paper presents a method for controlling a camera gimbal mechanism that is usually mounted on a fixed-wing unmanned aerial vehicle (UAV). The employment of an image base visual servoing (IBVS) is needed to govern the camera direction always pointing at a target object in a distance using the pan-tilt gimbal mechanism while the fixed-wing UAV flying over the object. Our works are modeling a nonlinear camera gimbal movement and designing a nonlinear adaptive control of command filtered backstepping (CFBS) to manage the movements of an extracted image feature and pan-tilt gimbal mechanism in despite of the radical movements of the UAV itself. Our CFBS design shows the effectiveness of the pan-tilt gimbal IBVS control using software and hardware in the loop simulation (SILS / HILS).

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