Non-model Friction Disturbance Compensation of a Pan-tilt Based on MUAV for Aerial Remote Sensing Application

Abstract

Non-linear friction disturbance is an important interference factor in the high-precision control of pan-tilt for light and small multirotor unmanned aerial vehicle (MUAV) application. Non-linear friction disturbance compensation is a key to realize high-precision remote sensing imaging. The model-based friction compensation method is difficult to estimate and compensate the non-linear friction disturbance accurately, a non-model friction compensation method based on fuzzy control of a pan-tilt for aerial remote sensing application is presented. In the pan-tilt control system, the fuzzy controller is applied to the position loop to compensate the angular position deviation caused by non-linear friction disturbance. Simulations and experiments are carried out to validate the effectiveness of the proposed method. The results show that, compared with PID control, the fuzzy controller has better friction compensation effect, and the control performance of pan-tilt is improved significantly.