Journal
ASIAN JOURNAL OF CONTROL
Volume 19, Issue 3, Pages 840-855Publisher
WILEY
DOI: 10.1002/asjc.1420
Keywords
Quadrotor; bounded-input control; UAV; vision-based control; robust control
Categories
Funding
- National Research Foundation of Korea, Ministry of Science, ICT and Future Planning [2012-0009524, 2014R1A2A1A11053989]
- National Research Foundation of Korea [2014R1A2A1A11053989] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Ask authors/readers for more resources
In this paper, a bounded-input controller is designed for the quadrotor vertical take-off and landing unmanned aerial vehicle (UAV). Visual information is used to localize the aircraft with respect to its environment and an image-based visual servo scheme is developed to navigate the motion of it. The visual features are selected from perspective image moments and projected on a rotated image plane, which simplifies the controller design. The flow of the features is used as the linear velocity information, and the controller assumes angular velocity and attitude information available for feedback. To design the controller, the dynamics of the quadrotor are decoupled into two parts: translational dynamics and rotational dynamics. First visual data are used to design a bounded-input controller for the translational dynamics, and then a saturated controller is designed for the rotational dynamics. The boundedness of the controller increases the chance of keeping the visual features in the field of view of the camera. Furthermore, the controllers also cope with the unknown depth of the image, and the external disturbances. The complete stability analysis of the overall system is presented to show that all states are bounded and the error signals converge to zero asymptotically. Simulation examples are provided in both nominal and perturbed conditions which show the effectiveness of the proposed theoretical results.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available