CASIA OpenIR
Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer
Cao, Zhiqiang1,2; Chen, Xuchao1,2; Yu, Yingying1,2; Yu, Junzhi1,2; Liu, Xilong3; Zhou, Chao1,2; Tan, Min1,2
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
2020
Volume50Issue:1Pages:376-384
Corresponding AuthorChen, Xuchao(chenxuchao2013@ia.ac.cn)
AbstractIn 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.
KeywordTarget tracking Trajectory Visual servoing Transmission line matrix methods Cameras Visualization Vehicle dynamics Hovering and tracking image moment quadrotor trajectory observer visual servoing
DOI10.1109/TSMC.2017.2720173
WOS KeywordMOMENTS ; FLIGHT ; UAVS
Indexed BySCI
Language英语
Funding ProjectNational 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]
Funding OrganizationNational Natural Science Foundation of China ; National High Technology Research and Development Program of China (863 Program) ; Beijing National Science Foundation
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000506638700033
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/29552
Collection中国科学院自动化研究所
Corresponding AuthorChen, Xuchao
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Cao, Zhiqiang]'s Articles
[Chen, Xuchao]'s Articles
[Yu, Yingying]'s Articles
Baidu academic
Similar articles in Baidu academic
[Cao, Zhiqiang]'s Articles
[Chen, Xuchao]'s Articles
[Yu, Yingying]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Cao, Zhiqiang]'s Articles
[Chen, Xuchao]'s Articles
[Yu, Yingying]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.