Image-Based Fast Finite-Time Target Tracking Control of Onboard Inertially Stabilized Camera Platform

作     者：Sun, Xunhong Zhu, Wenwu Du, Haibo Chen, Weile Chen, Chih-Chiang 

作者机构：Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University School of Automation Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan 

出 版 物：《IEEE Transactions on Industrial Electronics》 (IEEE Trans Ind Electron)

年 卷 期：2024年第71卷第12期

页      面：16409-16418页

核心收录：

学科分类：0810[工学-信息与通信工程] 070207[理学-光学] 0808[工学-电气工程] 081203[工学-计算机应用技术] 08[工学] 0835[工学-软件工程] 0803[工学-光学工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 0702[理学-物理学] 0801[工学-力学（可授工学、理学学位）] 

基　　金：This work was supported in part by the National Natural Science Foundation of China under Grant 62073113 and Grant 62303148 in part by the Fundamental Research Funds for the Central Universities under Grant MCCSE2023A01, Grant JZ2023HGTA0201, and Grant JZ2023HGQA0109 in part by Anhui Provincial Natural Science Foundation under Grant 2308085QF204 and in part by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 111-2221-E-006-204-MY2 

主　　题：Mobile robots 

摘      要：In this article, we investigate the problem of fast finite-time target tracking control of the inertially stabilized platform (ISP) with a camera that mounted on a mobile robot. At first, the kinematics of the onboard ISP target tracking system is established by the geographic coordinate and pinhole camera model, which includes the state-dependent uncertainties and external disturbances. Then, based on the image information captured by camera, a continuous image-based fast finite-time control algorithm is designed for target tracking. Rigorous analysis proves that the target can be tracked at the center of camera s view in finite time in the absence of disturbances. In the presence of disturbances, the tracking error can converge to a region around the origin in finite time. Simulation and experimental comparisons are presented to confirm the efficiency of the proposed method. © 1982-2012 IEEE.