Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles

Xie, H; He, Z; Veitch, D

Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles

Xie, H

He, Z Veitch, D

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Publication Type:: Journal Article
Citation:: At-Automatisierungstechnik, 2018, 66 (3), pp. 258 - 267
Issue Date:: 2018-03-26

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	He, Z	en_US
dc.contributor.author	Veitch, D https://orcid.org/0000-0001-8163-3464	en_US
dc.date.available	2018-01-16	en_US
dc.date.issued	2018-03-26	en_US
dc.identifier.citation	At-Automatisierungstechnik, 2018, 66 (3), pp. 258 - 267	en_US
dc.identifier.issn	0178-2312	en_US
dc.identifier.uri	http://hdl.handle.net/10453/130539
dc.description.abstract	© 2018 Walter de Gruyter GmbH, Berlin/Boston. This paper presents a disturbance observer based input saturated visual servoing law for a quadrotor unmanned aerial vehicle (UAV). The controller regulates the 4D relative pose, i. e., 3D translational and yaw motion, between the vehicle and a planar horizontal visual target in an environment with external disturbances. A feedforward control is used to compensate the lumped disturbance consisting of both system uncertainties and external disturbances. The feedback control part is based on a nested saturation control, which is used to bound the orientation of the UAV and therefore helps to keep the visual target in the camera's field of view. Simulation results are provided to demonstrate controller performance.	en_US
dc.relation.ispartof	At-Automatisierungstechnik	en_US
dc.relation.isbasedon	10.1515/auto-2017-0055	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles	en_US
dc.type	Journal Article
utslib.citation.volume	3	en_US
utslib.citation.volume	66	en_US
utslib.for	0805 Distributed Computing	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - GBDTC - Global Big Data Technologies
utslib.copyright.status	closed_access	*
pubs.issue	3	en_US
pubs.publication-status	Published	en_US
pubs.volume	66	en_US

Abstract:

© 2018 Walter de Gruyter GmbH, Berlin/Boston. This paper presents a disturbance observer based input saturated visual servoing law for a quadrotor unmanned aerial vehicle (UAV). The controller regulates the 4D relative pose, i. e., 3D translational and yaw motion, between the vehicle and a planar horizontal visual target in an environment with external disturbances. A feedforward control is used to compensate the lumped disturbance consisting of both system uncertainties and external disturbances. The feedback control part is based on a nested saturation control, which is used to bound the orientation of the UAV and therefore helps to keep the visual target in the camera's field of view. Simulation results are provided to demonstrate controller performance.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/123117