Target Size Adaptive PID Control Method for Gimbal Visual Servo

Visual servo systems represent a critical technology in robotic perception and control loops, widely used in target tracking, automatic monitoring, and visual navigation, particularly in pan-tilt platform-based image tracking systems. Traditional PID controllers with fixed gains, although simple and efficient, face significant limitations in dynamic environments due to target size variations and system delays. This paper proposes an adaptive PID control algorithm based on target size, dynamically adjusting PID gains and dead zones according to the real-time target area in images. A low-pass filtering mechanism is incorporated to mitigate high-frequency jitters induced by delays. Simulation results using Simulink demonstrate that this adaptive PID approach significantly reduces overshoot and settling time compared to traditional PID control, achieving robust tracking performance and stability even in conditions with substantial distance changes and random disturbances.