A Practical Visual Servo Control for an Unmanned Aerial Vehicle
Date
2008
Authors
Guenard, Nicolas
Hamel, Tarek
Mahony, Robert
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics is decoupled using a visual error based on spherical centroid data, along with estimations of the linear velocity and the gravitational inertial direction extracted from image features and an embedded inertial measurement unit. The visual error used compensates for poor conditioning of the image Jacobian matrix by introducing a nonhomogeneous gain term adapted to the visual sensitivity of the error measurements. A nonlinear controller, that ensures exponential convergence of the system considered, is derived for the full dynamics of the system using control Lyapunov function design techniques. Experimental results on a quadrotor UAV, developed by the French Atomic Energy Commission, demonstrate the robustness and performance of the proposed control strategy.
Description
Keywords
Keywords: Lyapunov functions; Nonlinear control systems; Tracking (position); Visual servoing; Image-based visual servo; Orientation dynamics; Underactuated system; Unmanned aerial vehicles (UAV) Aerial robotic vehicle; Experiments; Image-based visual servo (IBVS); Underactuated system
Citation
Collections
Source
IEEE Transactions on Robotics
Type
Journal article
Book Title
Entity type
Access Statement
License Rights
Restricted until
2037-12-31
Downloads
File
Description