Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 28, Issue 3, Pages 1268-1279Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2022.3217034
Keywords
Target tracking; Observers; Cameras; Visualization; Robustness; Nonlinear dynamical systems; Visual servoing; Disturbance observer; image-based visual servoing (IBVS); nonlinear control; quadrotor system; target tracking
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This article proposes an image-based geometric tracking control strategy for a quadrotor to track an unknown moving target under external disturbances using continuous observer design. By designing a higher order sliding mode observer and an outer loop IBVS controller, position convergence and attitude regulation are achieved, and the proposed approach achieves asymptotic stability as proven by theoretical analysis.
This article addresses the image-based control problem of a quadrotor for tracking an unknown moving target under external disturbances. Based on the continuous observer design, a constructive image-based visual servoing (IBVS) geometric tracking control strategy is proposed and utilized. First, a higher order sliding mode observer is designed based on image dynamics for continuous estimation of unmeasurable linear velocities and time-varying disturbances. Furthermore, exploiting the linear quadratic regulator optimal design method, an outer loop IBVS controller is proposed such that the position of the quadrotor converges to the desired tracking pattern. Next, an inner loop geometric controller is designed using Lie algebra functions to regulate the attitudes. Based on the Lyapunov stability theory, it is rigorously proven that the proposed IBVS geometric controller achieves asymptotic stability. Finally, the effectiveness and robustness of the proposed approach against uncertain targets, time-varying disturbances, and large initial inclination angles are demonstrated through numerical simulations and experiments.
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