Robust homography-based visual servo control for a quadrotor UAV tracking a moving target |
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| Institution: | 1. Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China;2. Institute of Unmanned System, Beihang University, Beijing 100191, China;3. The Seventh Research Division, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;1. Australian Centre for Field Robotics, The University of Sydney, Australia;2. College of Engineering, China Agricultural University, Beijing 100083, China;3. Department of Electrical & Electronic Engineering and Department of Aeronautics, Imperial College London, UK;1. School of Astronautics, Beihang University, Beijing 100191, PR China;2. Key Laboratory of Spacecraft Design Optimization and Dynamic Simulation Technologies of Ministry of Education, Beihang University, Beijing 100191, PR China |
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| Abstract: | In this study, a new robust homography-based visual tracking control approach for the quadrotor unmanned aerial vehicle (UAV) is developed. Specifically, employing the homography matrix as feedback, a hierarchical homography-based visual servoing (HBVS) scheme with a new command attitude extraction method to account for the underactuation of UAV is proposed. On this basis, a smooth hyperbolic tangent function is fulfilled as an augmented part of the backstepping control scheme, which guarantees the non-negative total thrust and avoid singularity. Additionally, a cascaded filter-based estimator and adaptive laws with integrable functions are embedded to counteract uncertainties including external perturbations, unknown acceleration of the moving target, and unknown image depth, and to facilitate the system’s asymptotic stability simultaneously. The theoretical analysis testifies that the whole close-loop system is asymptotically stable. Simulations further verify that the proposed HBVS controller can realize the visual tracking with a superior performance. |
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