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

• Published in: IEEE transactions on industrial electronics (1982) Vol. 71; no. 12; pp. 16409 - 16418
• Main Authors: Sun, Xunhong, Zhu, Wenwu, Du, Haibo, Chen, Weile, Chen, Chih-Chiang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Camera; Cameras; Control theory; Disturbances; Error analysis; fast finite-time control; inertially stabilized platform (ISP); Kinematics; mobile robot; Mobile robots; Pinhole cameras; Robot control; Robot kinematics; Robot vision systems; Robots; Stabilized platforms; Target tracking; Tracking control; Tracking errors; Tracking systems; Uncertainty
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2024.3387063

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.