Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles-Reference-Cited by-同舟云学术

Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles

Published:2018-03-01 Issue:3 Volume:66 Page:258-267
ISSN:2196-677X
Container-title:at - Automatisierungstechnik
language:en
Short-container-title:

Author:

Xie Hui¹,He Zhen²,Veitch Darryl¹

Affiliation:

1. School of Electrical and Data Engineering , University of Technology Sydney , Sydney , Australia

2. College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing , China

Abstract

Abstract 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.

Publisher

Walter de Gruyter GmbH

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

Link

https://www.degruyter.com/document/doi/10.1515/auto-2017-0055/pdf

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