Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles
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 imp...
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sg-ntu-dr.10356-1544842021-12-23T06:46:28Z Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles Xie, Hui Lynch, Alan F. Low, Kin Huat Mao, Shixin School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Image-Based Visual Servoing (IBVS) Output-Feedback Control 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. This work was supported in part by the National Science Foundation of China under Grant 51705086 and in part by the Traffic Management of Unmanned Aerial Systems Project under Grant NTU-ATMRI 2016-D3-LOW. Recommended by Associate Editor G. Hu. 2021-12-23T06:46:28Z 2021-12-23T06:46:28Z 2020 Journal Article 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. https://dx.doi.org/10.1109/TCST.2019.2892034 1063-6536 https://hdl.handle.net/10356/154484 10.1109/TCST.2019.2892034 2-s2.0-85076175564 3 28 1034 1041 en IEEE Transactions on Control Systems Technology © 2019 IEEE. All rights reserved. |
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Engineering::Mechanical engineering Image-Based Visual Servoing (IBVS) Output-Feedback Control Xie, Hui Lynch, Alan F. Low, Kin Huat Mao, Shixin Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
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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. |
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School of Mechanical and Aerospace Engineering |
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School of Mechanical and Aerospace Engineering Xie, Hui Lynch, Alan F. Low, Kin Huat Mao, Shixin |
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Article |
author |
Xie, Hui Lynch, Alan F. Low, Kin Huat Mao, Shixin |
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Xie, Hui |
title |
Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
title_short |
Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
title_full |
Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
title_fullStr |
Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
title_full_unstemmed |
Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
title_sort |
adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles |
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2021 |
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https://hdl.handle.net/10356/154484 |
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1720447107442147328 |