liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Modelling and control of IR/EO-gimbal for UAV surveillance applications
Linköping University, Department of Electrical Engineering.
2002 (English)Independent thesis Basic level (professional degree)Student thesisAlternative title
Modellering och styrning av IR/EO-gimbal för övervakning med UAV (Swedish)
Abstract [en]

This thesis is a part of the SIREOS project at Swedish Defence Research Agency which aims at developing a sensor system consisting of infrared and video sensors and an integrated navigation system. The sensor system is placed in a camera gimbal and will be used on moving platforms, e.g. UAVs, for surveillance and reconnaissance. The gimbal is a device that makes it possible for the sensors to point in a desired direction.

In this thesis the sensor pointing problem is studied. The problem is analyzed and a system design is proposed. The major blocks in the system design are gimbal trajectory planning and gimbal motion control. In order to develop these blocks, kinematic and dynamic models are derived using techniques from robotics. The trajectory planner is based on the kinematic model and can handle problems with mechanical constraints, kinematic singularity, sensor placement offset and reference signal transformation.

The gimbal motion controller is tested with two different control strategies, PID and LQ. The challenge is to perform control that responds quickly, but do not excite the damping flexibility too much. The LQ-controller uses a linearization of the dynamic model to fulfil these requirements.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2002. , 105 p.
LiTH-ISY-Ex, 3258
Keyword [en]
Reglerteknik, IR/EO-gimbal, modelling, identification, control, path planning, sensor management, robotics
Keyword [sv]
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-1281OAI: diva2:18600
Available from: 2002-08-20 Created: 2002-08-20

Open Access in DiVA

fulltext(2178 kB)12222 downloads
File information
File name FULLTEXT01.pdfFile size 2178 kBChecksum SHA-1
Type fulltextMimetype application/pdf

By organisation
Department of Electrical Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 12225 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 2370 hits
ReferencesLink to record
Permanent link

Direct link