[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 73
Transients , , and in the response to the camera position
changes in the (y, z) plane, which were presented in figure 16, are presented in
figure 17.
Transients , 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 15 for the system with the lead compensator PD are presented in figure 18.
Fig. 18. The responses of the system in case of excitation defined in figure 16 for the system
with the lead compensator PD
As figure 18 presents there is a considerable enhancement of the transients
quality and the steady state error remains equal zero. As the presented examples
indicate, the developed control system provides the correct object tracking during
disturbances which occur in various directions in 3D.