PID Controller Application in a Gimbal Construction for Camera Stabilization and Tracking

This paper details the development of a gimbal prototype employing Proportional, Integral and Derivative (PID) controllers for camera stabilization and orientation control. The system, featuring real-time image processing with a Raspberry Pi and motor control via an ESP-32 microcontroller, successfully stabilizes and orients a small camera. Integration of OpenCV facilitates application tasks like face detection and tracking. The study compares the efficacy of PD and PID controllers, fine-tuned through the ultimate sensitivity method. Although the PID controller demonstrates promising results in camera control, this research primarily establishes foundational knowledge, paving the way for future investigations into the integration of such systems into drones or other vehicles. Supplementary materials, including performance demonstrations. accompany this paper,