IBVS based on adaptive sliding mode control for a quadrotor target tracking under perturbations |
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| Affiliation: | 1. Part Rolling Key Laboratory of Zhejiang Province, Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, People''s Republic of China;2. State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, People''s Republic of China;1. Department of Instrumentation and Applied Physics, Indian Institute of Science, Bangalore 560012, India;1. Department of Mechanical and Aerospace Engineering, Missouri University of Science and Technology, 400 West 13th Street, Rolla, MO 65409-0050, United States;2. Department of Aerospace and Mechanical Engineering, University of Notre Dame, 152 Multidisciplinary Research Building, Notre Dame, IN 46556-0458, United States |
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| Abstract: | This paper presents the design of a visual control formulated on an adaptive sliding mode controller for a quadrotor executing a target tracking task subject to disturbances. An image projection of the target from a virtual camera approach, and an image-based visual servoing technique are considered to obtain a singularity-free set of image features to control the position and yaw of the rotorcraft. While, an adaptive sliding mode strategy improves the robustness against bounded external perturbations and uncertainties and provides adaptivity to the visual servoing scheme. Furthermore, an analysis based on Lyapunov theory provides sufficient conditions that guarantee the stability of the closed-loop system. A comparison of the proposed adaptive visual servoing against two recent visual servoing strategies is provided, showing superiority in simulation results. Finally, experimental tests of a Parrot AR.Drone 2.0 tracking a static and moving target further demonstrates the advantages and performance. |
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| Keywords: | Visual servoing Quadrotor Adaptive sliding mode control Virtual camera IBVS |
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