Novel light and small pan-tilt for MUAV-based remote sensing applications

A design scheme of a light and small pan-tilt is presented in this paper which is used to reject the various disturbance to make the imaging sensor hold steady in inertial space. To compensate the influences of outside disturbances on three attitudes of pan-tilt, the main structure of pan-tilt is designed as three-gimbal type. The structural optimization is performed to realize both of properties on light weight and fast response of the pan-tilt. The control system design for the pan-tilt adopts a three-loop compound control scheme, which is used to realize the improvement of the stabilization precision and robustness. Experiments are implemented to validate the effectiveness of the designed pan-tilt system. The results indicate that the system has good stabilization and tracking precision.