Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle
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Date
2015
Authors
Asl, Hamed Jabbari
Do, Ton Duc
Journal Title
Journal ISSN
Volume Title
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Abstract
This paper proposes an image-based visual servo (IBVS) controller for the 3D translational
motion of the quadrotor unmanned aerial vehicle (UAV). The main purpose of this paper is to
provide asymptotic stability for vision-based tracking control of the quadrotor in the presence
of uncertainty in the dynamic model of the system. The aim of the paper also includes the use
of
ow of image features as the velocity information to compensate for the unreliable linear
velocity data measured by accelerometers. For this purpose, the mathematical model of the
quadrotor is presented based on the optic
ow of image features which provides the possibility
of designing a velocity-free IBVS controller with considering the dynamics of the robot. The
image features are de ned from a suitable combination of perspective image moments without
using the model of the object. This property allows the application of the proposed controller
in unknown places. The controller is robust with respect to the uncertainties in the transla-
tional dynamics of the system associated with the target motion, image depth and external
disturbances. Simulation results and a comparison study are presented which demonstrate the
e ectiveness of the proposed approach.
Description
Keywords
Vision-based control, quadrotor, UAV, optic flow, robust control, IBVS
Citation
Hamed Jabbari Asl, Ton Duc Do; 2015; Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle; Mathematical Problems in Engineering