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

doi:10.1109/TSMC.2017.2720173

	Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer
	Cao, Zhiqiang1,2 ; Chen, Xuchao1,2 ; Yu, Yingying 1,2; Yu, Junzhi1,2 ; Liu, Xilong3 ; Zhou, Chao1,2 ; Tan, Min1,2
发表期刊	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN	2168-2216
	2020
卷号	50 期号:1 页码:376-384
通讯作者	Chen, Xuchao(chenxuchao2013@ia.ac.cn)
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.
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
DOI	10.1109/TSMC.2017.2720173
关键词[WOS]	MOMENTS ; FLIGHT ; UAVS
收录类别	SCI
语种	英语
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] ; 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]
项目资助者	National Natural Science Foundation of China ; National High Technology Research and Development Program of China (863 Program) ; Beijing National Science Foundation
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号	WOS:000506638700033
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能机器人
引用统计	被引频次：36[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/29552
专题	复杂系统认知与决策实验室_水下机器人
通讯作者	Chen, Xuchao
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China 3.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.