Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles
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Hui Xie
Hui Xie received his B. Sc. degree in mechanical engineering from Harbin Engineering University in 2007, the M. Sc. degree in mechatronics engineering from Harbin Institute of Technology in 2009, and Ph. D. in Electrical and Computer Engineering from the University of Alberta in 2016. Currently, he is a postdoctoral research associate in School of Electrical and Data Engineering, University of Technology Sydney.His research interests include nonlinear control theory, state estimation, and vision-based control with applications to unmanned aerial vehicles and mobile robots.
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Zhen He
Zhen He received the Ph. D. degree in automatic control theory and application from Nanjing University of Astronautics and Aeronautics, China, in 2010. She is currently an Associate Professor with Nanjing university of Aeronautics and Astronautics. Her research interests include nonlinear control and flight control.
Darryl Veitch received the B. Sc. degree (Hons.) from Monash University, Australia, in 1985, and the Ph. D. degree in mathematics from the DAMPT, Cambridge, University in 1990. He was with TRL, Telstra, Melbourne, Australia; CNET, France Telecom, Paris, France; KTH, Stockholm, Sweden; INRIA Sophia Antipolis and Paris, France; Bellcore, NJ, USA; RMIT, Melbourne; Technicolor, Paris; and EMUlab and CUBIN, The University of Melbourne, where he was a Professorial Research Fellow until 2014. He is currently a Professor with the School of Computing and Communications, University of Technology Sydney. His research interests are centered on computer networking and inference and include traffic modeling, parameter estimation, the theory and practice of active measurement, traffic sampling and sketching, information theoretic security, and clock synchronisation over networks.
Abstract
This paper presents a disturbance observer based input saturated visual servoing law for a quadrotor unmanned aerial vehicle (UAV). The controller regulates the 4D relative pose, i. e., 3D translational and yaw motion, between the vehicle and a planar horizontal visual target in an environment with external disturbances. A feedforward control is used to compensate the lumped disturbance consisting of both system uncertainties and external disturbances. The feedback control part is based on a nested saturation control, which is used to bound the orientation of the UAV and therefore helps to keep the visual target in the camera’s field of view. Simulation results are provided to demonstrate controller performance.
Zusammenfassung
Dieses Papier präsentiert ein auf einem Störungsbeobachter basierendes, eingangsgesättigtes visuelles Regelgesetz für einen unbemannten Quadrokopter (UAV). Der Controller regelt die 4D-relative Pose, d. h., eine 3D-Translations- und Gierbewegung zwischen dem Fahrzeug und einem planaren horizontalen Sichtziel in Umgebungen mit externen Störungen. Eine Vorsteuerung wird verwendet, um die kombinierten Störungen, die sowohl aus Systemunsicherheiten als auch aus externen Störungen bestehen, zu kompensieren. Der Rückkopplungssteuerungsteil basiert auf einer verschachtelten Sättigungssteuerung, die verwendet wird, um die Orientierung des UAV zu begrenzen und daher hilft, das visuelle Ziel im Sichtfeld der Kamera zu halten. Simulationsergebnisse werden bereitgestellt, um die Controller-Leistung zu demonstrieren.
About the authors
Hui Xie received his B. Sc. degree in mechanical engineering from Harbin Engineering University in 2007, the M. Sc. degree in mechatronics engineering from Harbin Institute of Technology in 2009, and Ph. D. in Electrical and Computer Engineering from the University of Alberta in 2016. Currently, he is a postdoctoral research associate in School of Electrical and Data Engineering, University of Technology Sydney.His research interests include nonlinear control theory, state estimation, and vision-based control with applications to unmanned aerial vehicles and mobile robots.
Zhen He received the Ph. D. degree in automatic control theory and application from Nanjing University of Astronautics and Aeronautics, China, in 2010. She is currently an Associate Professor with Nanjing university of Aeronautics and Astronautics. Her research interests include nonlinear control and flight control.
Darryl Veitch received the B. Sc. degree (Hons.) from Monash University, Australia, in 1985, and the Ph. D. degree in mathematics from the DAMPT, Cambridge, University in 1990. He was with TRL, Telstra, Melbourne, Australia; CNET, France Telecom, Paris, France; KTH, Stockholm, Sweden; INRIA Sophia Antipolis and Paris, France; Bellcore, NJ, USA; RMIT, Melbourne; Technicolor, Paris; and EMUlab and CUBIN, The University of Melbourne, where he was a Professorial Research Fellow until 2014. He is currently a Professor with the School of Computing and Communications, University of Technology Sydney. His research interests are centered on computer networking and inference and include traffic modeling, parameter estimation, the theory and practice of active measurement, traffic sampling and sketching, information theoretic security, and clock synchronisation over networks.
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© 2018 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
- Frontmatter
- Editorial
- Observer design and applications
- Survey
- Invariant observer design for scan matching-aided localization: A tutorial
- Some recent results on the design and implementation of interval observers for uncertain systems
- Methoden
- Generalized dynamic observer design for quasi-LPV systems
- From acceleration-based semi-active vibration reduction control to functional observer design
- Applications
- Observer design for monocular visual inertial SLAM
- Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles
- Applications of observers in medical robotics
Articles in the same Issue
- Frontmatter
- Editorial
- Observer design and applications
- Survey
- Invariant observer design for scan matching-aided localization: A tutorial
- Some recent results on the design and implementation of interval observers for uncertain systems
- Methoden
- Generalized dynamic observer design for quasi-LPV systems
- From acceleration-based semi-active vibration reduction control to functional observer design
- Applications
- Observer design for monocular visual inertial SLAM
- Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles
- Applications of observers in medical robotics
