Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle

Hamed Jabbari Asl, Ton Duc Do

    Research output: Contribution to journalArticle

    5 Citations (Scopus)

    Abstract

    This paper proposes an image-based visual servo (IBVS) controller for the 3D translational motion of the quadrotor unmanned aerial vehicles (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 flow 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 flow 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 defined 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 translational 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 effectiveness of the proposed approach.

    Original languageEnglish
    Article number954976
    JournalMathematical Problems in Engineering
    Volume2015
    DOIs
    Publication statusPublished - 2015

    Fingerprint

    Tracking Control
    Antennas
    Controllers
    Controller
    Unmanned aerial vehicles (UAV)
    Asymptotic stability
    Accelerometers
    Dynamic models
    Optics
    Uncertainty
    Robots
    Mathematical models
    Motion
    Accelerometer
    Vision
    Asymptotic Stability
    Dynamic Model
    Disturbance
    Robot
    Mathematical Model

    ASJC Scopus subject areas

    • Mathematics(all)
    • Engineering(all)

    Cite this

    Asymptotic Vision-Based Tracking Control of the Quadrotor Aerial Vehicle. / Jabbari Asl, Hamed; Do, Ton Duc.

    In: Mathematical Problems in Engineering, Vol. 2015, 954976, 2015.

    Research output: Contribution to journalArticle

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