This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

中文翻译：

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基于视觉的微型平移-倾斜惯性稳定平台的目标检测和跟踪

本文提出了一种用于微型云台惯性稳定平台 (ISP) 的新型视觉伺服方案。完全定制的 ISP 可以安装在微型四轴飞行器上，以实现静止或运动目标的检测和跟踪。机载云台ISP可以有效隔离载体的扰动旋转运动，保证摄像机光轴稳定，从而获得清晰的视频图像。同时，ISP保证目标始终在摄像机的光轴上，从而实现目标的检测和跟踪。基于视觉的跟踪控制设计采用基于数学模型的级联控制结构，能够准确反映ISP的动态特性。该控制器的内环采用比例滞后补偿器来提高光轴的稳定性，外环采用基于反馈线性化的滑模控制方法来实现目标跟踪。数值模拟和实验室实验表明，所提出的控制器可以实现令人满意的跟踪性能。