Finite-time Control for Image-based Visual Servoing of a Quadrotor Using Nonsingular Fast Terminal Sliding Mode
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Finite-time Control for Image-based Visual Servoing of a Quadrotor Using Nonsingular Fast Terminal Sliding Mode Guanglei Zhao*, Guangbo Chen, Jiannan Chen, and Changchun Hua Abstract: This paper investigates finite-time control for image-based visual servoing (IBVS) of a quadrotor subjects to image dynamics uncertainties and external disturbances. The quadrotor model is firstly proposed, based on this model and suppose that sensors on quadrotor only use a monocular camera and an inertial measurement unit, the image dynamics is developed by defining appropriate image features on virtual image plane and by means of perspective projection. The constructed visual model of the quadrotor, which includes 12 states, is decomposed into 6 subsystems in order to design the finite-time controller. Then, nonsingular fast terminal sliding model (NFTSM) finite-time controller is designed, and Lyapunov-based finite-time convergence and disturbance rejection properties are proved. Finally, simulation results are provided to demonstrate the effectiveness of the proposed results. Keywords: Finite-time control, image-based visual servoing (IBVS), nonsingular fast terminal sliding mode (NFTSM), quadrotor.
1.
INTRODUCTION
Unmanned aerial vehicles (UAVs) have numerous advantages and broad applications, especially vertical takeoff and landing UAVs like quadrotors, that has been widely studied in various directions. Due to Increasing applications of quadrotor, researchers are prompted to improve their performance through developing new control methods and contriving advanced sensors. Especially the vision sensor has attracted a great attention for UAVs in the last decade and many literature have focused on the visual techniques of quadrotor, such as position and state estimation [1,2], simultaneous localization and mapping [3–5], automatic landing [6, 7], autonomous obstacle avoidance [8] and etc. All these literatures mentioned above used camera for gauge and control. In addition, GPS is not sufficient to achieve the autonomous flight of quadrotors in some cases, for instance, in the indoor environment or in some crowded regions. However, camera can provide abundant information with a light weight and small size, and it is also passive and low-power consumption, which makes it suitable for quadrotor flying in both relatively narrow indoor environment and large, open spaces for exploration and search. There are two major vision-based control approaches for robotic systems including position-based visual servoing (PBVS) [9, 10] and image-based visual servoing
(IBVS) [11, 12]. In the PBVS method, 3D information on Cartesian space of the target is reconstructed from 2D image data using estimation algorithms. In the IBVS method, the controller is designed based on dynamics of image features in image plane. It regulates the vehicle without reconstructing the relative position and attitude with respect to the visual targets, and does not need priori target geometry information as
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