Robust visual servoing control for quadrotors landing on a moving target |
| |
Authors: | Wanbing Zhao Hao Liu Xinlong Wang |
| |
Institution: | 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 |
| |
Abstract: | In this paper, a robust visual servoing control approach is proposed to address the landing problem for quadrotors on a moving platform. A vision system is implemented to estimate the position and velocity of the quadrotor. A robust cascade controller is proposed by following backstepping-like fundamentals and robust compensating theory. The effects of time-varying uncertainties, including parameter uncertainties and external disturbances, and time-varying delays resulted from image acquisition, image processing, and sensor measurement delays can be restrained. Experimental results using a quadrotor to land on a ground moving target illustrate the effectiveness of the proposed approach. |
| |
Keywords: | |
本文献已被 ScienceDirect 等数据库收录! |
|