UM
Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera
Cabecinhas, David1,2; Bras, Sergio2,3; Cunha, Rita2,3; Silvestre, Carlos4; Oliveira, Paulo5
2019-01
Source PublicationIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN1063-6536
Volume27Issue:1Pages:14-29
AbstractThis paper presents an integrated visual servoing solution to the problem of quadrotor attitude estimation and stabilization based solely on image feedback from a pan and tilt camera and biased rate gyros. The solution comprises a control law for the quadrotor position and attitude, a control law for the pan and tilt camera platform, and an estimator for the vehicle attitude, whose interconnection stabilizes the quadrotor in hover above certain terrain landmarks. Lateral-longitudinal stabilization is achieved with a nested saturation control law by feedback of the image measurements, estimated attitude, and corrected angular velocity measurements and the vehicle is stabilized vertically by means of image feedback. Resorting to the input-to-state stability properties of the controllers, the quadrotor's position and attitude are shown to converge to the desired equilibrium point and, in the end, the interconnected system's closed loop is proven robust to observer estimation errors. Additionally, the pan and tilt camera is actively actuated to keep the relevant features visible in the image field of view for most operating conditions. The robustness and performance of the proposed control and estimation architecture is illustrated through both simulation and experimental results.
KeywordObservers pose estimation unmanned aerial vehicles visual servoing
DOI10.1109/TCST.2017.2768515
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000452618900002
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China;
2.Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal;
3.Univ Lisbon, Inst Super Tecn, Dept Elect Engn & Comp Sci, P-1049001 Lisbon, Portugal;
4.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Macau, Peoples R China;
5.Univ Lisbon, Inst Super Tecn, Inst Mech Engn & Collaborator ISR LARSyS,IDMEC, LAETA Associated Lab Energy Transports & Aeronaut, P-1049001 Lisbon, Portugal
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Cabecinhas, David,Bras, Sergio,Cunha, Rita,et al. Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2019,27(1):14-29.
APA Cabecinhas, David,Bras, Sergio,Cunha, Rita,Silvestre, Carlos,&Oliveira, Paulo.(2019).Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,27(1),14-29.
MLA Cabecinhas, David,et al."Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 27.1(2019):14-29.
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