Linear and Nonlinear control of a Visual Servoing system with Pan-Tilt Structure

In the last few years, the problem of automatically tracking a moving object has become a topic of interest, being therefore the subject of several studies. This work aims at presenting two distinct control approaches to solve the tracking problem for a visual servoing system with Pan-Tilt structure. Linear and nonlinear (gain scheduling) Proportional-Derivatives controllers are implemented in an actual micro-controller (Arduino Mega). The experimental results show a satisfactory level of efficiency of the systems established through the adopted methods, both for step and ramp shaped input errors.