[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

84 Z. Kuś and A. Nawrat
4 Examples of Control System Operation in the Presence of
Disturbances
Distortion in the form of the helicopter position change in horizontal and vertical
axes is transmitted to the camera position. Distortion in the form of the helicopter
rotation has impact on the camera rotation. The rotation of the head of the camera
corrects the camera position which was disturbed before. Because of small size of
the helicopter and camera it is assumed that the camera position is equal to the
helicopter position. The helicopter rotation is added to the camera rotation.
Figure 7 represents the situation when the helicopter changes its position only
in the axis after distortion occurs.
Fig. 7. Disturbance in the form of the helicopter position changes in the horizontal axis
Transients and in the response to the camera position changes in axis
are presented in figure 8. The change of the camera position is equal to the
change of the helicopter position which is the result of wind blowing in a horizontal
surface. As figure 8 presents the change of the position caused the change of
the required angle of camera rotation in direction of the tracked object. The camera
head turns in order to set the camera rotation angle to set value . Transient
has some minor overshoots. We can improve the control quality by means
of adding lead compensator PD in close loop with signal .