IBVS based on adaptive sliding mode control for a quadrotor target tracking under perturbations. (December 2022)

• Record Type: Journal Article
• Authors: Miranda-Moya, Armando; Castañeda, Herman; Gordillo, J.L.; Wang, Hesheng
• Is Part Of: Mechatronics. Volume 88(2022)
• Publication Date: 2022-12
• Subjects: Visual servoing -- Quadrotor -- Adaptive sliding mode control -- Virtual camera -- IBVS; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2022.102909
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: This paper presents the design of a visual control formulated on an adaptive sliding mode controller for a quadrotor executing a target tracking task subject to disturbances. An image projection of the target from a virtual camera approach, and an image-based visual servoing technique are considered to obtain a singularity-free set of image features to control the position and yaw of the rotorcraft. While, an adaptive sliding mode strategy improves the robustness against bounded external perturbations and uncertainties and provides adaptivity to the visual servoing scheme. Furthermore, an analysis based on Lyapunov theory provides sufficient conditions that guarantee the stability of the closed-loop system. A comparison of the proposed adaptive visual servoing against two recent visual servoing strategies is provided, showing superiority in simulation results. Finally, experimental tests of a Parrot AR.Drone 2.0 tracking a static and moving target further demonstrates the advantages and performance.