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Title: Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles
Authors: Xie, Hui
Lynch, Alan F.
Low, Kin Huat
Mao, Shixin
Keywords: Engineering::Mechanical engineering
Issue Date: 2020
Source: Xie, H., Lynch, A. F., Low, K. H. & Mao, S. (2020). Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles. IEEE Transactions On Control Systems Technology, 28(3), 1034-1041.
Journal: IEEE Transactions on Control Systems Technology
Abstract: This brief presents an adaptive output feedback image-based visual servoing (IBVS) law for a quadrotor unmanned aerial vehicle. The control objective is to regulate the relative 3-D position and yaw of the vehicle to a planar horizontal visual target consisting of multiple points. The control is implemented using a minimal number of commonly available low-cost on-board sensors including a strapdown inertial measurement unit and a monocular camera. The IBVS method relies on moment image features which are defined using a virtual camera. Output feedback introduces a filter to the control which removes the common requirement for linear velocity measurement. The method is adaptive and compensates for a constant force disturbance appearing the translational dynamics and parameter uncertainty in thrust constant, desired feature depth, and mass. Exponential stability of the outer loop and combined inner-outer closed-loop error dynamics is proven. Flight tests demonstrate the proposed method's motion control performance and its ability to compensate parametric uncertainty and reject constant force disturbances.
ISSN: 1063-6536
DOI: 10.1109/TCST.2019.2892034
Rights: © 2019 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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