期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 28, 期 5, 页码 1980-1987出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2019.2922159
关键词
Visual servoing; Vehicle dynamics; Target tracking; Visualization; Uncertainty; Aerodynamics; Nonlinear systems; ground target tracking; quadrotors; robust control; visual servoing control
资金
- National Natural Science Foundation of China [61873012, 61503012, 61633007]
- Office of Naval Research [N00014-17-1-2239]
In this brief, the robust position-based visual servoing control problem is addressed for a quadrotor with a down-facing monocular camera to perform ground target tracking tasks in outdoor environments. The object is to regulate the position of the quadrotor relative to the ground target by using a minimum sensor set, including an inertial measurement unit, an ultrasonic sensor, and a vision sensor. The robust compensators are designed in the visual servoing control system to enhance the robustness against nonlinearities, couplings, and uncertainties, including parameter uncertainties and external disturbances in the translational and rotational quadrotor dynamics. Theoretical analysis and experimental results demonstrate the effectiveness of the proposed robust visual servoing control method.
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