[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

Object Tracking in a Picture during Rapid Camera Movements 87
Fig. 11. Disturbance in the form of the helicopter rotation
Fig. 12. Transients and in the response to the helicopter rotation angle changes
Responses of signals and in a case of excitations , and which
are the same as the above-mentioned, are presented in figure 13.
As figure 13 presents the control system works perfectly in steady states, but
incorrectly in transient states. The changes of , and cause the change of
the required angle and current value of camera rotation n.
The camera head turns in order to set the camera rotation angle to the set
value . There are overshoots in this moment when the disturbance occurs, but
in steady state th e signal is following the signal.
The control quality can be improved by means of adding lead compensator PD
in close loop, which is presented in figure 6 with signal . The transfer function
of this compensator is as follows: