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Adaptive Robust Vision-Based Tracking Control of Quadrotor

Hamed Jabbari Asl
Young Researchers and Elite Club, Ilkhchi Branch, Islamic Azad University, Tabriz, Iran
Abstract—In this paper, Image-Based Visual Servo (IBVS) approach is considered for 3D translational motion control of an underactuated Unmanned Aerial Vehicle (UAV) called quadrotor. Taking into account the low quality of accelerometers data, the objective of this paper is to use only information of rate gyroscopes and a camera, in order to design an IBVS controller. Kinematics and dynamics of the UAV are expressed in terms of visual information which make it possible to design dynamic IBVS controllers without using linear velocity information obtained from accelerometers. An adaptive robust controller is proposed to deal with uncertainties in dynamics of the system related to motion of the target and also unknown depth information of image. Simulation results are presented to validate the designed controllers.

Index Terms—visual servo, quadrotor, UAV, optic flow, adaptive robust control.

Cite: Hamed Jabbari Asl, "Adaptive Robust Vision-Based Tracking Control of Quadrotor," Lecture Notes on Information Theory, Vol. 2, No. 3, pp. 232-237, September 2014. doi: 10.12720/lnit.2.3.232-237
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