TY - JOUR
T1 - Image-based tracking control of VTOL unmanned aerial vehicles
AU - Abdessameud, Abdelkader
AU - Janabi-Sharifi, Farrokh
N1 - Funding Information:
This work was supported by the Mitacs Elevate program and the Natural Sciences and Engineering Research Council of Canada (NSERC) through a Discovery Grant 203060-2012 . The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Marco Lovera under the direction of Editor Toshiharu Sugie.
Publisher Copyright:
© 2014 Elsevier Ltd. All rights reserved.
PY - 2015/3/1
Y1 - 2015/3/1
N2 - This paper addresses the image-based control problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs). Specifically, we propose a control scheme allowing the aircraft to track a moving target captured by an onboard camera where the orientation and angular velocity of the vehicle are assumed available for feedback. The proposed approach relies on appropriate image features, defined based on perspective image moments along with a useful projection, and the design of a bounded adaptive translational controller without linear velocity measurements in the presence of external disturbances. Estimates of the target's acceleration and the disturbances as well as some auxiliary variables are used to simplify the control design and guarantee the stability of the overall closed loop system. Simulation examples are provided to show the effectiveness of the proposed theoretical results.
AB - This paper addresses the image-based control problem of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs). Specifically, we propose a control scheme allowing the aircraft to track a moving target captured by an onboard camera where the orientation and angular velocity of the vehicle are assumed available for feedback. The proposed approach relies on appropriate image features, defined based on perspective image moments along with a useful projection, and the design of a bounded adaptive translational controller without linear velocity measurements in the presence of external disturbances. Estimates of the target's acceleration and the disturbances as well as some auxiliary variables are used to simplify the control design and guarantee the stability of the overall closed loop system. Simulation examples are provided to show the effectiveness of the proposed theoretical results.
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U2 - 10.1016/j.automatica.2014.12.032
DO - 10.1016/j.automatica.2014.12.032
M3 - Article
AN - SCOPUS:84924149387
SN - 0005-1098
VL - 53
SP - 111
EP - 119
JO - Automatica
JF - Automatica
ER -