Output feedback observation and control for visual servoing of VTOL UAVs

Florent Le Bras; Tarek Hamel; Robert Mahony; Aurélie Treil

doi:10.1002/rnc.1638

Output feedback observation and control for visual servoing of VTOL UAVs

Florent Le Bras^*, Tarek Hamel, Robert Mahony, Aurélie Treil

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

31 Citations (Scopus)

Abstract

This paper considers the question of stabilizing vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) using a minimal and an inexpensive sensor suite. The sensor suite considered consists of rate gyros and a single embedded video camera system. The approach taken is based on the principles of dynamic image-based visual servo control and extends the authors' earlier work by removing dependence on additional sensors, such as accelerometers and magnetometers. The technique presented has potential for mini-UAVs evolving in urban areas where global positioning system signals may not be available. The control algorithms and coupled state observers are presented in details. The main result of the paper is synthesized in a theorem along with a rigorous stability analysis of the closed-loop system. An estimate of the basin of attraction for the closed-loop system is provided. Simulation results are performed to illustrate the performance of the proposed control.

Original language	English
Pages (from-to)	1008-1030
Number of pages	23
Journal	International Journal of Robust and Nonlinear Control
Volume	21
Issue number	9
DOIs	https://doi.org/10.1002/rnc.1638
Publication status	Published - Jun 2011

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title = "Output feedback observation and control for visual servoing of VTOL UAVs",

abstract = "This paper considers the question of stabilizing vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) using a minimal and an inexpensive sensor suite. The sensor suite considered consists of rate gyros and a single embedded video camera system. The approach taken is based on the principles of dynamic image-based visual servo control and extends the authors' earlier work by removing dependence on additional sensors, such as accelerometers and magnetometers. The technique presented has potential for mini-UAVs evolving in urban areas where global positioning system signals may not be available. The control algorithms and coupled state observers are presented in details. The main result of the paper is synthesized in a theorem along with a rigorous stability analysis of the closed-loop system. An estimate of the basin of attraction for the closed-loop system is provided. Simulation results are performed to illustrate the performance of the proposed control.",

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AU - Le Bras, Florent

AU - Hamel, Tarek

AU - Mahony, Robert

AU - Treil, Aurélie

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Output feedback observation and control for visual servoing of VTOL UAVs

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