Adaptive visual servoing of UAVs using a virtual camera

Publication Type:
Journal Article
Citation:
IEEE Transactions on Aerospace and Electronic Systems, 2016, 52 (5), pp. 2529 - 2538
Issue Date:
2016-10-01
Full metadata record
Files in This Item:
Filename Description Size
07812893.pdfPublished Version1.42 MB
Adobe PDF
© 2016 IEEE. We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller's derivation. The control is adaptive to various system parameters. We prove exponential stability of the error dynamics. Experimental results demonstrate controller performance.
Please use this identifier to cite or link to this item: