Output Feedback Image-Based Visual Servoing of Rotorcrafts

This paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its pos...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 93; no. 1-2; pp. 277 - 287
Main Authors Li, Jianan, Xie, Hui, Ma, Rui, Low, K. H.
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.02.2019
Springer
Springer Nature B.V
Subjects
Artificial Intelligence
Comparative analysis
Control
Drone aircraft
Electrical Engineering
Engineering
Feedback control systems
Field of view
Laws, regulations and rules
Measuring instruments
Mechanical Engineering
Mechatronics
Output feedback
Production management
Robotics
Rotary wing aircraft
Sensors
Unmanned aerial vehicles
Unmanned helicopters
Vertical motion
Virtual camera
Rotorcraft UAV
Nonlinear backstepping control
Image-based visual servoing
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Summary:This paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its position and heading relative to a planar visual target consisting of multiple points. As compared to our previous work, twofold improvement is made. First, the desired value of the image feature of controlling the vertical motion of the RUAV is a function of other image features instead of a constant. This modification helps to keep the visual target stay in the camera’s field of view by indirectly adjusting the height of the vehicle. Second, the proposed approach simplifies our previous output feedback law by reducing the dimension of the observer filter state space while the same asymptotic stability result is kept. Both simulation and experimental results are presented to demonstrate the performance of the proposed controller.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-018-0826-4