Compensation Control of Miniature UAV Gimbal Performing Searching and Tracking Tasks

With regards the ground target-searching issue, the coupling of unmanned aerial vehicles（UAVs) and camera, along with the 6-DOF motion of the UAV, result in the divergence of the detection path from the flight path. To deal with the negative effects brought about by coupling during searching task, vehicle attitude rates measured by platform sensors are introduced in this study to coordinate the flight path and the detection path. Moreover, for the ground target-tracking issue, which is aimed at counterbalancing negative effects brought about by real-time relative lacation changing, compensation control law for gimbal is designed, and is used to gaze at targets with extra stability and accuracy. The effectiveness of the gimbal contol method is validated by performing a series of simulations.