Target Tracking with Multi-rotor Aerial Vehicles based on a Robust Visual Servo Controller with Prescribed Performance

George C. Karras, C. P. Bechlioulis, George K. Fourlas, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present an image-based visual servo control scheme for tracking a moving target using a multirotor aerial vehicle. The proposed scheme is based on the prescribed performance control notion and it is able to impose appropriately selected performance specifications on the image feature errors to satisfy visibility constraints arising from the camera limited field of view, while exhibiting robustness against calibration and depth estimation errors. The proposed controller is of low complexity and computational cost and thus can be easily implemented on the embedded control unit of an autonomous aerial vehicle. The resulting scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are verified via a realistic simulation scenario, where a quadrotor successfully tracks a visual target located on top of a moving mobile robot.

Original languageEnglish (US)
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages480-487
Number of pages8
ISBN (Electronic)9781728142777
DOIs
StatePublished - Sep 2020
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: Sep 1 2020Sep 4 2020

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Country/TerritoryGreece
CityAthens
Period9/1/209/4/20

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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