Image-Based Visual Servo Control of an Underactuated Flying Robot Tracking a Moving Target
نویسندگان
چکیده
In this paper, dynamic image-based visual servo control approach is designed for an underactuated flying robot tracking a moving target. The objective is to consider the full dynamics of the system to design a vision based controller. Passivity properties of dynamics of perspective image moments in virtual image plane, obtained using inertial information of the robot, are utilized to design a dynamic image based visual servo controller. A nonlinear robust controller based on backstepping approach is designed to deal with uncertainties in dynamics of image features related to depth information and motion of the target. The controller is also robust with respect to uncertainties in dynamics of the robot. Simulation results are presented to validate the designed controller.
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