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Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer

文献类型：期刊论文

作者Cao, Zhiqiang2,3; Chen, Xuchao2,3; Yu, Yingying2,3; Yu, Junzhi2,3; Liu, Xilong1; Zhou, Chao2,3; Tan, Min2,3
刊名IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
出版日期2020
卷号50期号:1页码:376-384
关键词Target tracking Trajectory Visual servoing Transmission line matrix methods Cameras Visualization Vehicle dynamics Hovering and tracking image moment quadrotor trajectory observer visual servoing
ISSN号2168-2216
DOI10.1109/TSMC.2017.2720173
通讯作者Chen, Xuchao(chenxuchao2013@ia.ac.cn)
英文摘要In this correspondence paper, an image dynamics-based visual servoing for quadrotors is proposed to realize stable hovering and tracking. Four perspective image moments are adopted as visual features to control all the independent degrees of freedom of a quadrotor. The complicated interaction matrix is simplified by projecting original image to virtual image plane. On this basis, the dynamics of the system is determined by considering the dynamics of image features and the quadrotor simultaneously. Backstepping controllers are then designed to stabilize the visual servoing system of the quadrotor. In reality, it is unrealistic to have exact prior knowledge about the trajectory parameters of an unpredictable moving target. To solve this problem, a trajectory observer based on nonlinear tracking-differentiator to estimate trajectory parameters of the target is firstly integrated into the quadrotor with image dynamics, which guarantees a satisfactory performance. The effectiveness of the proposed approach is verified by simulations.
WOS关键词MOMENTS ; FLIGHT ; UAVS
资助项目National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61503376] ; National High Technology Research and Development Program of China (863 Program)[2015AA042201] ; Beijing National Science Foundation[4161002]
WOS研究方向Automation & Control Systems ; Computer Science
语种英语
WOS记录号WOS:000506638700033
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; National High Technology Research and Development Program of China (863 Program) ; Beijing National Science Foundation
源URL[http://ir.ia.ac.cn/handle/173211/29551]  
专题复杂系统管理与控制国家重点实验室_水下机器人
通讯作者Chen, Xuchao
作者单位1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Cao, Zhiqiang,Chen, Xuchao,Yu, Yingying,et al. Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2020,50(1):376-384.
APA Cao, Zhiqiang.,Chen, Xuchao.,Yu, Yingying.,Yu, Junzhi.,Liu, Xilong.,...&Tan, Min.(2020).Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,50(1),376-384.
MLA Cao, Zhiqiang,et al."Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 50.1(2020):376-384.

入库方式： OAI收割

来源：自动化研究所

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