We propose a kinematics feedforward and PI controller combination algorithm. The proposed algorithm measures the speed of the target in the image coordinate system to calculate the normalized position and speed of the target, and uses the kinematics calculation of the target speed as a feedforward. This strategy improves the tracking accuracy of the PTZ. We designed a feedforward PI control simulation and hardware system test platform, and finally performed simulation and experimental verification. The results show that this article Compared with the traditional PTZ controller vision feedback control strategy, the proposed method has better dynamic performance and higher tracking accuracy.
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