Input Saturated Visual Servoing for Unmanned Aerial Vehicles

This paper presents an input saturated visual servoing controller for a quadrotor unmanned aerial vehicle (UAV). The controller regulates relative pose between the vehicle and a planar horizontal visual target. In order to simplify the control design, the method uses a virtual camera to define a set...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2017-04, Vol.22 (2), p.952-960
Main Authors: Hui Xie, Lynch, Alan F.
Format: Article
Language:English
Subjects:
Adaptive control
Bounded control
Cameras
Control theory
Controllers
Field of view
IEEE transactions
image moments
image-based visual servoing (IBVS)
Kinematics
Mechatronics
Pitch (inclination)
Rolling motion
Servocontrol
Unmanned aerial vehicles
Unmanned helicopters
virtual camera
Virtual cameras
Visual servoing
Visualization
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Summary:This paper presents an input saturated visual servoing controller for a quadrotor unmanned aerial vehicle (UAV). The controller regulates relative pose between the vehicle and a planar horizontal visual target. In order to simplify the control design, the method uses a virtual camera to define a set of image moment features. The image feature kinematics is independent of roll and pitch motion. Since the image feature error is stabilized in the virtual camera, the visual target potentially leaves the real camera's field of view (FoV). To keep the visual target in the camera FoV, an input saturated law is proposed to sufficiently bound the roll and pitch of the vehicle. Furthermore, an adaptive input saturated control law is proposed to ensure positive thrust. Experimental and simulation results are provided to demonstrate controller performance.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2016.2608862