Dynamic output feedback image-based visual servoing of rotorcraft UAVs

Xie, H; Li, J; Low, KH

Dynamic output feedback image-based visual servoing of rotorcraft UAVs

Xie, H

Li, J Low, KH

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Publication Type:: Conference Proceeding
Citation:: 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, 2017, pp. 1361 - 1367
Issue Date:: 2017-07-25

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Li, J	en_US
dc.contributor.author	Low, KH	en_US
dc.date.issued	2017-07-25	en_US
dc.identifier.citation	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, 2017, pp. 1361 - 1367	en_US
dc.identifier.isbn	9781509044948	en_US
dc.identifier.uri	http://hdl.handle.net/10453/127176
dc.description.abstract	© 2017 IEEE. This paper presents an improved dynamic output feedback image-based visual servoing (IBVS) law for a quadrotor in comparison with our previous work ('Dynamic Visual Servoing of a Rotary-wing Unmanned Aerial Vehicle Without Velocity Measurement,' in AIAA Guidance, Navigation, and Control Conference, Grapevine, Texas, January, 2017). The controller enables the quadrotor to regulate its position and yaw relative to a planar target consisting of multiple points. This new IBVS controller removes the integral term used to counter external disturbance, in which way the controller's structure is further simplified. Same as in our previous work, the controller requires a minimum set of sensors, i.e., an inertial measurement unit and a single downward facing camera. Also, this approach is adaptive to various unknown system parameters, such as thrust coefficient, mass of the vehicle, and bias errors in Euler angle measurement. The asymptotic stability of error dynamics is proven. Both simulation and experimental results are presented to demonstrate the performance of the proposed controller.	en_US
dc.relation.ispartof	2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017	en_US
dc.relation.isbasedon	10.1109/ICUAS.2017.7991340	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Dynamic output feedback image-based visual servoing of rotorcraft UAVs	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	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.publication-status	Published	en_US

Abstract:

© 2017 IEEE. This paper presents an improved dynamic output feedback image-based visual servoing (IBVS) law for a quadrotor in comparison with our previous work ('Dynamic Visual Servoing of a Rotary-wing Unmanned Aerial Vehicle Without Velocity Measurement,' in AIAA Guidance, Navigation, and Control Conference, Grapevine, Texas, January, 2017). The controller enables the quadrotor to regulate its position and yaw relative to a planar target consisting of multiple points. This new IBVS controller removes the integral term used to counter external disturbance, in which way the controller's structure is further simplified. Same as in our previous work, the controller requires a minimum set of sensors, i.e., an inertial measurement unit and a single downward facing camera. Also, this approach is adaptive to various unknown system parameters, such as thrust coefficient, mass of the vehicle, and bias errors in Euler angle measurement. The asymptotic stability of error dynamics is proven. Both simulation and experimental results are presented to demonstrate the performance of the proposed controller.

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http://hdl.handle.net/10453/127176