[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 for Rapid Camera Movements in 3D Space 71
Transients , , and in the response to the camera position
changes in the (y, z) plane, which were presented in figure 13, are presented in
figure 14.
The change of the camera position is equal to the change of the helicopter position
which is the result of wind blowing in a vertical plane. As figure 11 presents
the change of the , position caused the change of the required angles
and of the camera rotation towards the tracked object. The camera head turns
in order to set the camera rotation angles to set values ( and
). Transients and have some transient error, however, steady state error
approaches zero. In this very example we can achieve the improvement of control
quality likewise by means of lead compensator PD in close loop in the position
where the signals and can be found (cf. fig 9). The same lead compensators
PD which were used previously were used herein. The transients
, , and for the disturbance which was defined in figure 13 for the
system with the lead compensator PD are presented in figure 15.
Fig. 15. The responses of the system in case of excitation defined in figure 13 for the system
with the lead compensator PD
As figure 15 presents there is a considerable enhancement of the transients
quality and the steady state error remains equal zero. Figure 16 represents the
situation after distortion when the helicopter changes its position both in the