Adaptive output-feedback image-based visual servoing for quadrotor unmanned aerial vehicles

• Main Authors: Xie, Hui, Lynch, Alan F., Low, Kin Huat, Mao, Shixin
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Image-Based Visual Servoing (IBVS); Output-Feedback Control
• Online Access: https://hdl.handle.net/10356/154484
• Institution: Nanyang Technological University

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.