Controle de Câmera Pan-Tilt via Método ADRC com Observador de Ordem Reduzida

Abstract

In this work, the orientation control problem of a pan-tilt camera for focusing on moving objects is considered. Because of being a non-linear multivariable control system with coupled control inputs, this work presents and discusses the Active Disturbance Rejection Control (ADRC) method. One of the main advantages of using the ADRC is that the control law design does not require exact knowledge of the plant parameters and the pan and tilt angles measurements. These advantages are possible by using an extended observer to estimate the non-measurable signals of the states and nonmodeled dynamics. As a contribution to state-of- the-art, it is proposed an ADRC variant approach that is implemented with a reduced-order observer. Numerical simulations and comparisons with other control techniques illustrate the efficiency of the proposed control.