Asymptotic vision-based tracking control of the quadrotor aerial vehicle
type: Item
instance of: scholarly article
title: Asymptotic vision-based tracking control of the quadrotor aerial vehicle
zbMATH Open document ID: 1394.93210
DOI: 10.1155/2015/954976
author: Hamed Jabbari Asl
author: Ton Duc Do
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 94A13
zbMATH DE Number: 6927681
Wikidata QID: Q59120034
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/954976
OpenAlex ID: W1856643978
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description: scientific article; zbMATH DE number 6927681