Input Saturated Visual Servoing for Unmanned Aerial Vehicles

Xie, H; Lynch, AF

Input Saturated Visual Servoing for Unmanned Aerial Vehicles

Xie, H

Lynch, AF

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Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2017, 22 (2), pp. 952 - 960
Issue Date:: 2017-04-01

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Lynch, AF	en_US
dc.date.issued	2017-04-01	en_US
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2017, 22 (2), pp. 952 - 960	en_US
dc.identifier.issn	1083-4435	en_US
dc.identifier.uri	http://hdl.handle.net/10453/125027
dc.description.abstract	© 1996-2012 IEEE. This paper presents an input saturated visual servoing controller for a quadrotor unmanned aerial vehicle (UAV). The controller regulates relative pose between the vehicle and a planar horizontal visual target. In order to simplify the control design, the method uses a virtual camera to define a set of image moment features. The image feature kinematics is independent of roll and pitch motion. Since the image feature error is stabilized in the virtual camera, the visual target potentially leaves the real camera's field of view (FoV). To keep the visual target in the camera FoV, an input saturated law is proposed to sufficiently bound the roll and pitch of the vehicle. Furthermore, an adaptive input saturated control law is proposed to ensure positive thrust. Experimental and simulation results are provided to demonstrate controller performance.	en_US
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics	en_US
dc.relation.isbasedon	10.1109/TMECH.2016.2608862	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Input Saturated Visual Servoing for Unmanned Aerial Vehicles	en_US
dc.type	Journal Article
utslib.citation.volume	2	en_US
utslib.citation.volume	22	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
utslib.for	0913 Mechanical Engineering	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	closed_access	*
pubs.issue	2	en_US
pubs.publication-status	Published	en_US
pubs.volume	22	en_US

Abstract:

© 1996-2012 IEEE. This paper presents an input saturated visual servoing controller for a quadrotor unmanned aerial vehicle (UAV). The controller regulates relative pose between the vehicle and a planar horizontal visual target. In order to simplify the control design, the method uses a virtual camera to define a set of image moment features. The image feature kinematics is independent of roll and pitch motion. Since the image feature error is stabilized in the virtual camera, the visual target potentially leaves the real camera's field of view (FoV). To keep the visual target in the camera FoV, an input saturated law is proposed to sufficiently bound the roll and pitch of the vehicle. Furthermore, an adaptive input saturated control law is proposed to ensure positive thrust. Experimental and simulation results are provided to demonstrate controller performance.

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http://hdl.handle.net/10453/125027