Position Control for Object Tracking Using Observer with Adaptive Compensator

In tracking objects, when an object moves too fast, it causes a camera to move out of control and loses stability of capture. Therefore, in preventing this problem, it is important to obtain the motor torque to control rotating of camera shaft. However, it is too difficult to install a sensor to measure the motor torque rate because of small size system and high cost of a sensor. This paper presents a technique to estimate the variation torque of the DC servo motor by using adaptive compensator instead of using the sensor. The parameters of proposed method can be found out by a math model of the system. The camera will be moved according to a ball by pattern matching and PID to control camera position. The results show that the estimated torque from proposed method is comparable with the measurement from the sensor. Moreover, rate of changing torque can also be estimated to preventing the camera out of control.