Attitude control strategy for a camera stabilization platform. (October 2017)

• Record Type: Journal Article
• Authors: Königseder, Franz; Kemmetmüller, Wolfgang; Kugi, Andreas
• Is Part Of: Mechatronics. Volume 46(2017)
• Page Start: 60
• Page End: 69
• Publication Date: 2017-10
• Subjects: Attitude control -- Inertially stabilized platform -- Camera stabilization; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.06.012
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: Two degrees-of-freedom attitude control strategy for a camera stabilization platform. Attitude estimation by two independent inertial measurement units. Proof of concept by simulation and measurement results of a prototype platform. Abstract: In this paper, an attitude control strategy for a 3-axis gimbaled platform used for the stabilization of film and broadcast cameras is presented. The attitude control strategy for the camera provides an alignment of the camera's line of sight with a desired attitude, independent of the movements of the platform base. This control objective is achieved by a combination of a feedforward compensation of the disturbances induced by the moving base (the operator) and a feedback control of the orientation of the camera. The required attitude information is obtained by an attitude estimation strategy presented in [1] that fuses the measurements of two inertial measurement units. The derivation of the proposed control law utilizes a number of approximations tailored to the considered application. This allows to obtain an efficient but yet accurate attitude control concept. The very good accuracy and the practical feasibility of the overall control strategy are demonstrated by simulation and measurement results of a prototype platform.