The Controller of the Camera Used in Target Tracking for Unmanned Vehicle with Model Predictive Controller
Aytac Altan, Rifat Hacioglu, None None
proceeding (Uluslararası, Hakemli) | Yazar(lar): Aytac Altan, Rifat Hacioglu, None None | Yıl: 2014 | Dergi/Kurum: 2014 22ND SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | İndeks: WOS.ISTP | Anahtar Kelimeler: model predictive control, PID controller, RRP robot arm, target tracking, unmanned vehic
In this study, unmanned vehicles used for target tracking camera RRP (revolute revolute prismatic) joint structure with a three-jointed robot arm with the position, velocity and acceleration control is made. In order to be able to follow the specified trajectory, the system used in the control of the robot arm with joint structure RRP target tracking model based on changing according to the structure proposed by the MPC is implemented. Also the PID (Proportional Integral Dervative) is provided with control comparison was made. MATLAB/Simulink simulations performed unmanned vehicles used for target tracking in robotic camera control with the system were investigated in the MPC.