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dc.contributor.authorLi, Jiananen
dc.contributor.authorXie, Huien
dc.contributor.authorMa, Ruien
dc.contributor.authorLow, Kin Huaten
dc.identifier.citationLi, J., Xie, H., Ma, R., & Low, K. H. (2019). Output Feedback Image-Based Visual Servoing of Rotorcrafts. Journal of Intelligent & Robotic Systems, 93(1-2), 277-287. doi:10.1007/s10846-018-0826-4en
dc.description.abstractThis paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its position and heading relative to a planar visual target consisting of multiple points. As compared to our previous work, twofold improvement is made. First, the desired value of the image feature of controlling the vertical motion of the RUAV is a function of other image features instead of a constant. This modification helps to keep the visual target stay in the camera’s field of view by indirectly adjusting the height of the vehicle. Second, the proposed approach simplifies our previous output feedback law by reducing the dimension of the observer filter state space while the same asymptotic stability result is kept. Both simulation and experimental results are presented to demonstrate the performance of the proposed controller.en
dc.format.extent12 p.en
dc.relation.ispartofseriesJournal of Intelligent & Robotic Systemsen
dc.rights© 2018 Springer Science+Business Media B.V., part of Springer Nature. All rights reserved.This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent & Robotic Systems. The final authenticated version is available online at:
dc.subjectImage-based Visual Servoingen
dc.subjectDRNTU::Engineering::Mechanical engineeringen
dc.subjectRotorcraft UAVen
dc.titleOutput feedback image-based visual servoing of rotorcraftsen
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen
dc.description.versionAccepted versionen
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