Hamed Jabbari Asl, Mojtaba Yazdani, and Jungwon Yoon
Visual servo, quadrotor, UAV, optic flow, robust control
This paper considers the problem of designing an image-based visual servo controller for the 3D translational motion of the quadrotor unmanned aerial vehicle. This paper aim is to use the flow of visual features as the velocity information to compensate for the low quality of velocity measurements from accelerometers. The image features are selected from perspective image moments of a planar target without using any geometric information, and then the approach can be applied in unknown places. Two robust controllers are proposed to deal with the uncertainties in the dynamics of the system associated with the motion of the target and also the unknown depth information of the image. The first one uses an adaptive scheme to compensate for the unknown bound of the system uncertainty and provides uniformly ultimately bounded response for the system states. Assuming a realistic condition, the second approach applies an adaptive method to provide an asymptotic stability for the system during a tracking mission. Simulation results in both nominal and perturbed conditions are presented to validate the designed controllers.
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