Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship
This paper develops a novel homography-based visual servo control method for the vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) tracking the trajectory of a 6 degrees of freedom (6-DOF) moving ship. Different from the classical homography-based visual servoing which is only suita...
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sg-ntu-dr.10356-1638262022-12-19T05:52:41Z Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat School of Mechanical and Aerospace Engineering Engineering::Electrical and electronic engineering Trajectory Tracking Visibility Constraint This paper develops a novel homography-based visual servo control method for the vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) tracking the trajectory of a 6 degrees of freedom (6-DOF) moving ship. Different from the classical homography-based visual servoing which is only suitable for the trajectory tracking of a planar moving target, an extended homography-based visual servoing framework is proposed to track the trajectory of a 6-DOF moving target regardless of its time-varying rotational motion. Taking entries in the homography matrix as feedback, the visual dynamics of UAV is established and decoupled into a translational motion sub-dynamics and an attitude sub-dynamics based on the hierarchical control strategy. In the translational motion subsystem, the robust controller is designed by embedding the nonlinear differentiator, the adaptive method, and a smooth saturation model in the backstepping control scheme. The saturation model is introduced to generate the constrained control inputs to ensure the nonsingular attitude extraction and help the visual points remain in the camera's field of view (FoV) simultaneously. In the attitude subsystem, a robust state-constrained control method is proposed by utilizing a robust control barrier function (RCBF), the quadratic programming (QP) and a saturation model to guarantee the visibility, where RCBF can accommodate unknown dynamics. The theoretical analysis demonstrates the asymptotic stability of the closed-loop system. Simulations are carried out to further validate the controller performance. This work was supported in part by the National Natural Science Foundation of China under Grants 62173016 and 61827901, in part by the Beijing Natural Science Foundation under Grant 4202038, in part by the China Postdoctoral Science Foundation under Grant 2020TQ0028, in part by the National Key R&D Program of China under Grant 2018YFC1506401, and in part by the China Scholarship Council. 2022-12-19T05:52:41Z 2022-12-19T05:52:41Z 2021 Journal Article Huang, Y., Zhu, M., Zheng, Z. & Low, K. H. (2021). Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship. IEEE Transactions On Vehicular Technology, 71(3), 2385-2398. https://dx.doi.org/10.1109/TVT.2021.3138912 0018-9545 https://hdl.handle.net/10356/163826 10.1109/TVT.2021.3138912 2-s2.0-85122299937 3 71 2385 2398 en IEEE Transactions on Vehicular Technology © 2021 IEEE. All rights reserved. |
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Engineering::Electrical and electronic engineering Trajectory Tracking Visibility Constraint Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship |
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This paper develops a novel homography-based visual servo control method for the vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) tracking the trajectory of a 6 degrees of freedom (6-DOF) moving ship. Different from the classical homography-based visual servoing which is only suitable for the trajectory tracking of a planar moving target, an extended homography-based visual servoing framework is proposed to track the trajectory of a 6-DOF moving target regardless of its time-varying rotational motion. Taking entries in the homography matrix as feedback, the visual dynamics of UAV is established and decoupled into a translational motion sub-dynamics and an attitude sub-dynamics based on the hierarchical control strategy. In the translational motion subsystem, the robust controller is designed by embedding the nonlinear differentiator, the adaptive method, and a smooth saturation model in the backstepping control scheme. The saturation model is introduced to generate the constrained control inputs to ensure the nonsingular attitude extraction and help the visual points remain in the camera's field of view (FoV) simultaneously. In the attitude subsystem, a robust state-constrained control method is proposed by utilizing a robust control barrier function (RCBF), the quadratic programming (QP) and a saturation model to guarantee the visibility, where RCBF can accommodate unknown dynamics. The theoretical analysis demonstrates the asymptotic stability of the closed-loop system. Simulations are carried out to further validate the controller performance. |
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School of Mechanical and Aerospace Engineering |
author_facet |
School of Mechanical and Aerospace Engineering Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat |
format |
Article |
author |
Huang, Yanting Zhu, Ming Zheng, Zewei Low, Kin Huat |
author_sort |
Huang, Yanting |
title |
Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship |
title_short |
Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship |
title_full |
Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship |
title_fullStr |
Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship |
title_full_unstemmed |
Homography-based visual servoing for underactuated VTOL UAVs tracking a 6-DOF moving ship |
title_sort |
homography-based visual servoing for underactuated vtol uavs tracking a 6-dof moving ship |
publishDate |
2022 |
url |
https://hdl.handle.net/10356/163826 |
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1753801108005847040 |