Output Feedback Image-Based Visual Servoing of Rotorcrafts

Li, J; Xie, H; Ma, R; Low, KH

Output Feedback Image-Based Visual Servoing of Rotorcrafts

Li, J Xie, H

Ma, R Low, KH

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Publication Type:: Journal Article
Citation:: Journal of Intelligent and Robotic Systems: Theory and Applications, 2019, 93 (1-2), pp. 277 - 287
Issue Date:: 2019-02-15

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Field	Value	Language
dc.contributor.author	Li, J	en_US
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Ma, R	en_US
dc.contributor.author	Low, KH	en_US
dc.date.available	2020-05-25T19:21:50Z
dc.date.issued	2019-02-15	en_US
dc.identifier.citation	Journal of Intelligent and Robotic Systems: Theory and Applications, 2019, 93 (1-2), pp. 277 - 287	en_US
dc.identifier.issn	0921-0296	en_US
dc.identifier.uri	http://hdl.handle.net/10453/123297
dc.description.abstract	© 2018, Springer Nature B.V. 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.	en_US
dc.relation.ispartof	Journal of Intelligent and Robotic Systems: Theory and Applications	en_US
dc.relation.isbasedon	10.1007/s10846-018-0826-4	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Output Feedback Image-Based Visual Servoing of Rotorcrafts	en_US
dc.type	Journal Article
utslib.citation.volume	1-2	en_US
utslib.citation.volume	93	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	1702 Cognitive Sciences	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
utslib.copyright.status	open_access	*
pubs.issue	1-2	en_US
pubs.publication-status	Published	en_US
pubs.volume	93	en_US

Abstract:

© 2018, Springer Nature B.V. 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.

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http://hdl.handle.net/10453/123297