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Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera
David Cabecinhas1; Sergio Br ´ as2; Rita Cunha2; Carlos Silvestre3; Paulo Oliveira4,5
2017-11-17
Source PublicationIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN1063-6536
Volume27Issue:1Pages:14-29
Abstract

This 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 BySCIE
Language英語English
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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Citation statistics
Cited Times [WOS]:4   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
2.Department of Electrical Engineering and Computer Science, Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
3.Department of Electrical and Computer Engineering, University of Macau, Macau, China
4.LAETA-Associated Laboratory for Energy, Transports and Aeronautics, IDMEC, Institute of Mechanical Engineering
5.Collaborator of ISR/LARSyS, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
Recommended Citation
GB/T 7714
David Cabecinhas,Sergio Br ´ as,Rita Cunha,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,2017,27(1):14-29.
APA David Cabecinhas,Sergio Br ´ as,Rita Cunha,Carlos Silvestre,&Paulo Oliveira.(2017).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 David Cabecinhas,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(2017):14-29.
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