Vision‐Based Trajectory Tracking System for an Emulated Quadrotor UAV

165

Parametric uncertainties and coupled nonlinear dynamics are inherent in quadrotor configuration and infer adaptive nonlinear approaches to be used for flight control system. Numerous adaptive nonlinear and intelligent control techniques, which have been reported in the literature for designing quadrotor flight controller by various researchers, are investigated in this paper. As a priori, each conventional nonlinear control technique is discussed broadly and then its adaptive/observer based augmentation is conferred along with all possible variants. Among conventional nonlinear control approaches, feedback linearization, backstepping, sliding mode, and model predictive control, are studied. Intelligent control approaches incorporating fuzzy logic and neural networks are also discussed. In addition to adaption based parametric uncertainty handling, various other aspects of each control technique regarding stability, disturbance rejection, response time, asymptotic, exponential and finite time convergence etc., are discussed in sufficient depth. The contribution of this paper is the provision of detailed and in depth discussion on quadrotor nonlinear control approaches to the flight control designers.

Section: Fuzzy Logic Based Intelligent Controlmentioning

confidence: 99%

Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey

Mo¹,

Farid²

2018

165

“…The proof is given in [40]. It is clear that, the translational and rotational dynamics of the system, given by (14) and (31), can be expressed in form of (51) and (52), with 1 3 , and 2 = −1 (−̇̃+ (t) + −̇d) −̈d. Therefore, to show the stability of the overall system, it is sufficient to prove that the conditions (53)-(55) are satisfied.…”

Section: Stability Of the Overall Systemmentioning

confidence: 99%

“…Considering various problems, several controllers have recently been proposed for this type of UAV, e.g. . One assumption made in many developed controllers is the availability of the position and linear velocity information in designing a tracking controller.…”

Section: Introductionmentioning

confidence: 99%

Bounded‐Input Control of the Quadrotor Unmanned Aerial Vehicle: A Vision‐Based Approach

Asl

Yoon

2016

In this paper, a bounded‐input controller is designed for the quadrotor vertical take‐off and landing unmanned aerial vehicle (UAV). Visual information is used to localize the aircraft with respect to its environment and an image‐based visual servo scheme is developed to navigate the motion of it. The visual features are selected from perspective image moments and projected on a rotated image plane, which simplifies the controller design. The flow of the features is used as the linear velocity information, and the controller assumes angular velocity and attitude information available for feedback. To design the controller, the dynamics of the quadrotor are decoupled into two parts: translational dynamics and rotational dynamics. First visual data are used to design a bounded‐input controller for the translational dynamics, and then a saturated controller is designed for the rotational dynamics. The boundedness of the controller increases the chance of keeping the visual features in the field of view of the camera. Furthermore, the controllers also cope with the unknown depth of the image, and the external disturbances. The complete stability analysis of the overall system is presented to show that all states are bounded and the error signals converge to zero asymptotically. Simulation examples are provided in both nominal and perturbed conditions which show the effectiveness of the proposed theoretical results.

“…One major difficulty lies in the visual perception of the object with a slim structure. Existing methods utilize various visual sensors such as monocular cameras [6], binocular cameras [7], and depth cameras [8,9]. Feature‐based methods, which are widely adopted for visual sensors, are highly dependent on the selection of appropriate feature descriptors.…”

Section: Introductionmentioning

confidence: 99%

Object traversing by monocular UAV in outdoor environment

Zhang

et al. 2020

In search and monitoring tasks, object traversing scenarios are more challenging than avoidance and tracking. In this paper, we propose an object perception and path planning algorithm which can detect hollow objects and calculate a traversing path in real‐time. Meanwhile, a general vision unmanned aerial vehicle (UAV) system framework is designed to implement the proposed algorithm. A series of fundamental but effective algorithms are utilized in combination to detect hollow objects, and then the triangulation is applied to calculate the 3D position of the object. In order to improve the detection accuracy, a path planning and motion control algorithm is designed to enhance the safety and stability during traversing. The actual experimental results show that the UAV system is robust and feasible.